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Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
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 mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Robotic telesurgery has a potential to provide extreme and urgent health care services and bring unprecedented opportunities to deliver highly specialized skills globally. It has a significant societal impact and is regarded as one of the…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Extended Reality (XR) services will revolutionize applications over 5th and 6th generation wireless networks by providing seamless virtual and augmented reality experiences. These applications impose significant challenges on network…
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…
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…
3D holographic communication has the potential to revolutionize the way people interact with each other in virtual spaces, offering immersive and realistic experiences. However, demands for high data rates, extremely low latency, and high…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
This perspective reframes human-robot interaction (HRI) through extended reality (XR), arguing that virtual robots powered by large foundation models (FMs) can serve as cognitively grounded, empathic agents. Unlike physical robots,…
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments,…
Future autonomous mobile systems will greatly benefit from cooperation and real-time sensor data exchange using V2X communication. In such applications, wireless communication has to cope with stringent real-time and safety constraints, a…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
Extended Reality (XR) has stringent throughput and delay requirements that are hard to meet with current wireless technologies. Missing these requirements can lead to worsened picture quality, perceived lag between user input and…
End-to-end wireless communication is new concept expected to be widely used in the physical layer of future wireless communication systems (6G). It involves the substitution of transmitter and receiver block components with a deep neural…
Connected and Autonomous Vehicles (CAVs) continue to evolve rapidly, and system latency remains one of their most critical performance parameters, particularly when vehicles are operated remotely. Existing latency-assessment methodologies…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
Immersive extended reality (XR) applications introduce latency-critical workloads that must satisfy stringent real-time responsiveness while operating on energy- and battery-constrained devices, making execution placement between end…