Related papers: Self-Improving Autonomous Underwater Manipulation
Many recent advances in robotic manipulation have come through imitation learning, yet these rely largely on mimicking a particularly hard-to-acquire form of demonstrations: those collected on the same robot in the same room with the same…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
Marine ecosystems face increasing pressure due to climate change, driving the need for scalable, AI-powered monitoring solutions to inform effective conservation and restoration efforts. This paper examines the rapid emergence of underwater…
Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we demonstrate a novel approach to predicting and controlling jellyfish locomotion…
Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…
In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…
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…
The development of autonomous robotic systems offers significant potential for performing complex tasks with precision and consistency. Recent advances in Artificial Intelligence (AI) have enabled more capable intelligent automation…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Imitation learning is a powerful tool for training robot manipulation policies, allowing them to learn from expert demonstrations without manual programming or trial-and-error. However, common methods of data collection, such as human…
Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…
Aquaculture robotics is receiving increased attention and is subject to unique challenges and opportunities for research and development. Guidance, navigation and control are all important aspects for realizing aquaculture robotics…
Developing adaptable, extensible, and accurate task bots with minimal or zero human intervention is a significant challenge in dialog research. This thesis examines the obstacles and potential solutions for creating such bots, focusing on…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…