Related papers: CUBic: Coordinated Unified Bimanual Perception and…
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception…
Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…
This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…
Brain-computer interface (BCI) uses brain signals to communicate with external devices without actual control. Particularly, BCI is one of the interfaces for controlling the robotic arm. In this study, we propose a knowledge…
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance both wheeled driving and legged control. Furthermore, due to…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
We present CUBE (Control-based Unified B-spline Encoding), a new geometric representation for human faces that combines B-spline volumes with learned features, and demonstrate its use as a decoder for 3D scan registration and monocular 3D…
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between…
Visuotactile sensing offers rich contact information that can help mitigate performance bottlenecks in imitation learning, particularly under vision-limited conditions, such as ambiguous visual cues or occlusions. Effectively fusing visual…
Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…
The classical human-robot interface in uncalibrated image-based visual servoing (UIBVS) relies on either human annotations or semantic segmentation with categorical labels. Both methods fail to match natural human communication and convey…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Dynamic ball-interaction tasks remain challenging for robots because they require tight perception-action coupling under limited reaction time. This challenge is especially pronounced in humanoid racket sports, where successful interception…
Forecasting how human hands move in egocentric views is critical for applications like augmented reality and human-robot policy transfer. Recently, several hand trajectory prediction (HTP) methods have been developed to generate future…
In recent years, wheeled bipedal robots have garnered significant attention due to their exceptional mobility on flat terrain. However, while stair climbing has been achieved in prior studies, these existing methods often suffer from a…
Multi-robot cooperation requires agents to make decisions that are consistent with the shared goal without disregarding action-specific preferences that might arise from asymmetry in capabilities and individual objectives. To accomplish…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…