Related papers: Augmented Reality-Enhanced Robot Teleoperation for…
In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human…
Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent works start to use portable data collection devices without…
Recent years have seen a growth in the number of industrial robots working closely with end-users such as factory workers. This growing use of collaborative robots has been enabled in part due to the availability of end-user robot…
This paper introduces Robotic Augmented Reality for Machine Programming by Demonstration (RAMPA), the first ML-integrated, XR-driven end-to-end robotic system, allowing training and deployment of ML models such as ProMPs on the fly, and…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D visualization with reliable depth cues,…
High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
The increasing affordability of robot hardware is accelerating the integration of robots into everyday activities. However, training a robot to automate a task requires expensive trajectory data where a trained human annotator moves a…
Industrial robotics are redefining inspection and maintenance routines across multiple sectors, enhancing safety, efficiency, and environmental sustainability. In outdoor industrial facilities, it is crucial to inspect and repair complex…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
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,…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robot's 3D model to…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Robots are widespread across diverse application contexts. Teaching robots to perform tasks, in their respective contexts, demands a high domain and programming expertise. However, robot programming faces high entry barriers due to the…