Related papers: Robot Drummer: Learning Rhythmic Skills for Humano…
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three challenges in isolation, yet do not combine these skills…
The hype about sensorimotor learning is currently reaching high fever, thanks to the latest advancement in deep learning. In this paper, we present an open-source framework for collecting large-scale, time-synchronised synthetic data from…
Robotic technology has been widely used in nowadays society, which has made great progress in various fields such as agriculture, manufacturing and entertainment. In this paper, we focus on the topic of drumming robots in entertainment. To…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…
Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic environments through manipulation. Table tennis exemplifies…
Wearable robotics bring the opportunity to augment human capability and performance, be it through prosthetics, exoskeletons, or supernumerary robotic limbs. The latter concept allows enhancing human performance and assisting them in daily…
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manipulation, this task demands a seamless integration of…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
What we appreciate in dance is the ability of people to sponta- neously improvise new movements and choreographies, sur- rendering to the music rhythm, being inspired by the cur- rent perceptions and sensations and by previous experiences,…
This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental…
The design and evaluation of a robotic prosthesis for a drummer with a transradial amputation is presented. The principal objective of the prosthesis is to simulate the role fingers play in drumming. This primarily includes controlling the…
Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
This paper provides an analysis of a mixed-media experimental musical work that explores the integration of human musical interaction with a newly developed interface for the violin, manipulated by an improvising violinist, interactive…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
It has been a long-standing research goal to endow robot hands with human-level dexterity. Bi-manual robot piano playing constitutes a task that combines challenges from dynamic tasks, such as generating fast while precise motions, with…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sounds, programmed by artists and engineers to make the robot…