Related papers: Geometric Visual Servo Via Optimal Transport
Understanding and predicting dynamics of the physical world can enhance a robot's ability to plan and interact effectively in complex environments. While recent video generation models have shown strong potential in modeling dynamic scenes,…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
In this paper, we open up new avenues for visual servoing systems built upon the Path Integral (PI) optimal control theory, in which the non-linear partial differential equation (PDE) can be transformed into an expectation over all possible…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial relationships. Consequently, we argue that…
Existing approaches for visuomotor robotic control typically require characterizing the robot in advance by calibrating the camera or performing system identification. We propose MAVRIC, an approach that works with minimal prior knowledge…
Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent advances in 3D-aware visual representations have shown…
Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on multi-camera setups or costly ray…
In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…
Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this approach can lead to visual servoing failure and degrade the…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
Vision-Language-Action (VLA) models achieve strong generalization in robotic manipulation but remain largely reactive and 2D-centric, making them unreliable in tasks that require precise 3D reasoning. We propose GeoPredict, a geometry-aware…