Related papers: Efficient and Reliable Teleoperation through Real-…

Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot…

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a…

Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…

Multi-task missions for unmanned aerial vehicles (UAVs) involving inspection and landing tasks are challenging for novice pilots due to the difficulties associated with depth perception and the control interface. We propose a shared…

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…

Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…

Studies in robot teleoperation have been centered around action specifications -- from continuous joint control to discrete end-effector pose control. However, these robot-centric interfaces often require skilled operators with extensive…

Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…

Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic arms. When a task is challenging, requires high dimensional control, or is subject to corruption, shared autonomy can significantly…

Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…

Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…

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…

Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…