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This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
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,…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on reference motions or task-specific rewards, tightly coupling…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
In this paper, we consider retargeting a tracked facial performance to either another person or to a virtual character in a game or virtual reality (VR) environment. We remove the difficulties associated with identifying and retargeting the…
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…
This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks…
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Accurately recovering human pose and appearance from video is an essential component of scene reconstruction, with applications to motion capture, motion prediction, virtual reality, and digital twinning. Despite significant interest in…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient…