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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…
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…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
We present Glovity, a novel, low-cost wearable teleoperation system that integrates a spatial wrench (force-torque) feedback device with a haptic glove featuring fingertip Hall sensor calibration, enabling feedback-rich dexterous…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on visual observations and robot proprioceptive information…
Gripper-in-hand data collection decouples demonstration acquisition from robot hardware, but whether a trajectory is executable on the target robot remains unknown until a separate replay-and-validate stage. Failed demonstrations therefore…
In this work, we focus on improving the robot's dexterous capability by exploiting visual sensing and adaptive force control. TeachNet, a vision-based teleoperation learning framework, is exploited to map human hand postures to a…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
Teleoperating a robot arm involves the human operator positioning the robot's end-effector or programming each joint. Whereas humans can control their own arms easily by integrating visual and proprioceptive feedback, it is challenging to…
This paper proposes an upper-limb exoskeleton teleoperation system based on magnetorheological (MR) clutches, aiming to improve operational accuracy and enhance the immersive experience during lunar sampling tasks. Conventional exoskeleton…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
Hand-object motion-capture (MoCap) repositories offer large-scale, contact-rich demonstrations and hold promise for scaling dexterous robotic manipulation. Yet demonstration inaccuracies and embodiment gaps between human and robot hands…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…