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Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom. Yet, most current…
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…
In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns an optimal arbitration strategy that allocates more control…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Human teams can be exceptionally efficient at adapting and collaborating during manipulation tasks using shared mental models. However, the same shared mental models that can be used by humans to perform robust low-level force and motion…
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
Robotic teaching assistants (TAs) often use body-mounted screens to deliver content. In nomadic, walk-and-talk learning, such as tours in makerspaces, these screens can distract learners from real-world objects, increasing extraneous…
The teleoperation of robotic hands is limited by the high costs of depth cameras and sensor gloves, commonly used to estimate hand relative joint positions (XYZ). We present a novel, cost-effective approach using three webcams for…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in…
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in…