Related papers: Whole-Body Teleoperation for Mobile Manipulation a…
Studies in robot teleoperation have been centered around action specifications -- from continuous joint control to discrete end-effector pose control. However, these robot-centric interfaces often require skilled operators with extensive…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are commonly driven either by predefined motion trajectories, which…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
Multi-object tracking (MOT) is critical in numerous real-world applications, including surveillance, autonomous driving, and robotics. Accurately predicting object motion is fundamental to MOT, but current methods struggle with the…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments. Conventional mobile manipulation approaches often struggle to generalize across different tasks…
Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving…
End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as…
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
Teleoperation inherently relies on the human operator acting as a closed-loop controller to actively compensate for hardware imperfections, including latency, mechanical friction, and lack of explicit force feedback. Standard Behavior…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…