Related papers: MRHaD: Mixed Reality-based Hand-Drawn Map Editing …
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…
Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation.…
Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…
Designing and evaluating in-vehicle interfaces requires experimental platforms that combine ecological validity with experimental control. Driving simulators are widely used for this purpose. However, they face a fundamental trade-off:…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction…
Robots are now increasingly integrated into various real world applications and domains. In these new domains, robots are mostly employed to improve, in some ways, the work done by humans. So, the need for effective Human-Robot Teaming…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Mixed Reality (MR) head mounted displays (HMDs) offer a promising alternative to traditional Flight Simulator Training Device (FSTD) displays, providing immersion, realism and cost efficiency. However, these technologies require management…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…