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Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…
Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…
In real-world scenarios, many robotic manipulation tasks are hindered by occlusions and limited fields of view, posing significant challenges for passive observation-based models that rely on fixed or wrist-mounted cameras. In this paper,…
Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Human gaze is known to be a strong indicator of underlying human intentions and goals during manipulation tasks. This work studies gaze patterns of human teachers demonstrating tasks to robots and proposes ways in which such patterns can be…
Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…
Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…