Related papers: Interaction-Aware Whole-Body Control for Compliant…
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…
The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…
Animals achieve sophisticated behavioral control through dynamic coupling of the brain, body, and environment. Accordingly, the co-design approach, in which both the controllers and the physical properties are optimized simultaneously, has…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning methods to handle due to difficulties in specifying contact…
Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in long-horizon tasks, remains challenging.…
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world Human-Robot Interaction (HRI) scenarios. The main…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behaviour. Hence, building detailed computational models for the…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…