相关论文: Communication Modalities for Supervised Teleoperat…
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments,…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
Data-efficient neural decoding is a central challenge for speech brain-computer interfaces. We present the first demonstration of transfer learning and cross-task decoding for MEG-based speech models spanning perception and production. We…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…
Shared gaze visualizations have been found to enhance collaboration and communication outcomes in diverse HCI scenarios including computer supported collaborative work and learning contexts. Given the importance of gaze in surgery…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera. In this study, we explore the potential of depth sensing…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce errors and increase performance under delay is to downscale…
Task-oriented communication focuses on extracting and transmitting only the information relevant to specific tasks, effectively minimizing communication overhead. Most existing methods prioritize reducing this overhead during inference,…
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…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
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…
Medical conversation summarization is integral in capturing information gathered during interactions between patients and physicians. Summarized conversations are used to facilitate patient hand-offs between physicians, and as part of…