相关论文: Communication Modalities for Supervised Teleoperat…

Is more data always better to train vision-and-language models? We study knowledge transferability in multi-modal tasks. The current tendency in machine learning is to assume that by joining multiple datasets from different tasks their…

Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…

Meta-Learning has emerged as a research direction to better transfer knowledge from related tasks to unseen but related tasks. However, Meta-Learning requires many training tasks to learn representations that transfer well to unseen tasks;…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by efficiency constraints in time and space, and the pipeline…

This paper studies task-oriented, otherwise known as goal-oriented, communications, in a setting where a transmitter communicates with multiple receivers, each with its own task to complete on a dataset, e.g., images, available at the…

Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…

Harness engineering has emerged as an important inference-time technique for large language model (LLM) agents, aiming to improve long-term performance through task decomposition and guided execution. However, more elaborate harnesses are…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

We present the results of an exploratory study on how pairs interact with speech commands and touch gestures on a wall-sized display during a collaborative sensemaking task. Previous work has shown that speech commands, alone or in…

This paper presents a novel method that allows a machine learning algorithm following the transformation-based learning paradigm \cite{brill95:tagging} to be applied to multiple classification tasks by training jointly and simultaneously on…

Breast ultrasound interpretation requires simultaneous lesion segmentation and tissue classification. However, conventional multi-task learning approaches suffer from task interference and rigid coordination strategies that fail to adapt to…

The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…

We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive…

With the rapid development of smart manufacturing, edge computing-oriented microservice platforms are emerging as an important part of production control. In the containerized deployment of microservices, layer sharing can reduce the huge…

Multi-task learning of dense prediction tasks, by sharing both the encoder and decoder, as opposed to sharing only the encoder, provides an attractive front to increase both accuracy and computational efficiency. When the tasks are similar,…

To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this approach, a novice takes the role of a cognitive robot…

In the last few years, distributed machine learning has been usually executed over heterogeneous networks such as a local area network within a multi-tenant cluster or a wide area network connecting data centers and edge clusters. In these…

Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…