Related papers: Failure-Aware Bimanual Teleoperation via Conservat…
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…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation with an online multi-stage object inertial parameter…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
Recent progress in end-to-end Imitation Learning approaches has shown promising results and generalization capabilities on mobile manipulation tasks. Such models are seeing increasing deployment in real-world settings, where scaling up…
Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective training signals, minor execution errors…
The workforce will need to continually upskill in order to meet the evolving demands of industry, especially working with robotic and autonomous systems. Current training methods are not scalable and do not adapt to the skills that learners…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework…
Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But how to utilize the self-assessment results to re-choose…
This paper rethinks steady-hand robotic manipulation by using a weakly supervised framework that fuses calibration-aware perception with admittance control. Unlike conventional automation that relies on labor-intensive 2D labeling, our…
Teleoperation inherently relies on the human operator acting as a closed-loop controller to actively compensate for hardware imperfections, including latency, mechanical friction, and lack of explicit force feedback. Standard Behavior…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…