Related papers: A Digital Twin Framework for Virtual Visuo-Haptic …
Telesurgery is an effective way to deliver service from expert surgeons to areas without immediate access to specialized resources. However, many of these areas, such as rural districts or battlefields, might be subject to different…
Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation…
This paper presents an AI-driven IoT robotic teleoperation system designed for real-time remote manipulation and intelligent visual monitoring, tailored for smart city applications. The architecture integrates a Flutter-based cross-platform…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
This paper introduces a new dual monocular visualinertial odometry (dual-VIO) strategy for a mobile manipulator operating under dynamic locomotion, i.e. coordinated movement involving both the base platform and the manipulator arm. Our…
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in…
In developing medical interventions using untethered milli- and microrobots, ensuring safety and effectiveness relies on robust methods for detection, real-time tracking, and precise localization within the body. However, the inherent…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
Multi-robot system for manufacturing is an Industry Internet of Things (IIoT) paradigm with significant operational cost savings and productivity improvement, where Unmanned Aerial Vehicles (UAVs) are employed to control and implement…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
Object detection on VHR remote sensing images plays a vital role in applications such as urban planning, land resource management, and rescue missions. The large-scale variation of the remote-sensing targets is one of the main challenges in…
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…
We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…
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…
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of physical systems (PT) and assets, known as digital twins, can…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an…