Related papers: A High-Fidelity Robotic Manipulator Teleoperation …
We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…
Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback…
Stable, low-latency whole-body teleoperation of humanoid robots is an open research challenge, complicated by kinematic mismatches between human and robot morphologies, accumulated inertial sensor noise, non-trivial control latency, and…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
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…
Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…
\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
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,…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Visuomotor policies trained on human expert demonstrations have recently shown strong performance across a wide range of robotic manipulation tasks. However, these policies remain highly sensitive to domain shifts stemming from background…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Robots are now increasingly integrated into various real world applications and domains. In these new domains, robots are mostly employed to improve, in some ways, the work done by humans. So, the need for effective Human-Robot Teaming…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…