Related papers: BEAVR: Bimanual, multi-Embodiment, Accessible, Vir…
To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
Simulators are an essential tool for behavioural and interaction research on driving, due to the safety, cost, and experimental control issues of on-road driving experiments. The most advanced simulators use expensive 360 degree projections…
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller with hand-crafted action "vocabulary" such as end-effector…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Purpose: A virtual reality (VR) system, where surgeons can practice procedures on virtual anatomies, is a scalable and cost-effective alternative to cadaveric training. The fully digitized virtual surgeries can also be used to assess the…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
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…
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…
Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…
LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…
Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…
Teleoperation of Unmanned Aerial Vehicles (UAVs) has recently become an noteworthly research topic in the field of human robot interaction. Each year, a variety of devices is being studied to design adapted interface for diverse purpose…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do safely. The main limitation is the physiological hand tremor…
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and…