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Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring…
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…
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…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a…
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)…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…
The convergence of robotics and virtual reality (VR) has enabled safer and more efficient workflows in high-risk laboratory settings, particularly virology labs. As biohazard complexity increases, minimizing direct human exposure while…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
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…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Vision Language Action (VLA) models enable instruction following manipulation, yet dualarm deployment remains unsafe due to under modeled selfcollisions between arms and grasped objects. We introduce CoFreeVLA, which augments an endtoend…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model is regrettably a luxury, as available calibration tools are…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a…