相关论文: Vision-based Teleoperation of Shadow Dexterous Han…
Realistic reconstruction of two hands interacting with objects is a new and challenging problem that is essential for building personalized Virtual and Augmented Reality environments. Graph Convolutional networks (GCNs) allow for the…
We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Automatic human action recognition is indispensable for almost artificial intelligent systems such as video surveillance, human-computer interfaces, video retrieval, etc. Despite a lot of progress, recognizing actions in an unknown video is…
One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the…
Skeleton-based Human Action Recognition (HAR) is a vital technology in robotics and human-robot interaction. However, most existing methods concentrate primarily on full-body movements and often overlook subtle hand motions that are…
Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
In this work, deep learning models are applied to a segment of a robust hand-washing dataset that has been created with the help of 30 volunteers. This work demonstrates the classification of presence of one hand, two hands and no hand in…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Shadows significantly hinder computer vision tasks in outdoor environments, particularly in field robotics, where varying lighting conditions complicate object detection and localisation. We present FieldNet, a novel deep learning framework…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Vision-based regression tasks, such as hand pose estimation, have achieved higher accuracy and faster convergence through representation learning. However, existing representation learning methods often encounter the following issues: the…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…