相关论文: Long range teleoperation for fine manipulation tas…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
Caregiving of older adults is an urgent global challenge, with many older adults preferring to age in place rather than enter residential care. However, providing adequate home-based assistance remains difficult, particularly in…
In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Remote control of robotic systems, also known as teleoperation, is crucial for the development of autonomous vehicle (AV) technology. It allows a remote operator to view live video from AVs and, in some cases, to make real-time decisions.…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
Teleoperation enables remote human support of automated vehicles in scenarios where the automation is not able to find an appropriate solution. Remote assistance concepts, where operators provide discrete inputs to aid specific automation…
As robots become more common for both able-bodied individuals and those living with a disability, it is increasingly important that lay people be able to drive multi-degree-of-freedom platforms with low-dimensional controllers. One approach…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
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…
We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…