相关论文: Prioritized Kinematic Control of Joint-Constrained…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…

Human gaze offers rich supervisory signals for understanding visual attention in complex visual environments. In this paper, we propose Eyes on Target, a novel depth-aware and gaze-guided object detection framework designed for egocentric…

Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…

Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…

We present a user study analyzing head-gaze-based robot control and foveated visual augmentation in a simulated search-and-rescue task. Results show that foveated augmentation significantly improves task performance, reduces cognitive load…

Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…

This paper addresses the problem of visual target tracking in scenarios where a pursuer may experience intermittent loss of visibility of the target. The design of a Switched Visual Tracker (SVT) is presented which aims to meet the…

Self-supervised goal-conditioned reinforcement learning enables robots to autonomously acquire diverse skills without human supervision. However, a central challenge is the goal setting problem: robots must propose feasible and diverse…

This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…

Multi-camera perception tasks have gained significant attention in the field of autonomous driving. However, existing frameworks based on Lift-Splat-Shoot (LSS) in the multi-camera setting cannot produce suitable dense 3D features due to…

Guided policy search is a popular approach for training controllers for high-dimensional systems, but it has a number of pitfalls. Non-convex trajectory optimization has local minima, and non-uniqueness in the optimal policy itself can mean…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…

Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…