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Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with…
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
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…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
A critical bottleneck limiting imitation learning in robotics is the lack of data. This problem is more severe in mobile manipulation, where collecting demonstrations is harder than in stationary manipulation due to the lack of available…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Teleoperation emerged as a promising fallback for situations beyond the capabilities of automated vehicles. Nevertheless, teleoperation still faces challenges, such as reduced situational awareness. Since situational awareness is primarily…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…