相关论文: Long range teleoperation for fine manipulation tas…

A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…

Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…

To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…

Studies in robot teleoperation have been centered around action specifications -- from continuous joint control to discrete end-effector pose control. However, these robot-centric interfaces often require skilled operators with extensive…

Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…

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…

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…

In this paper, we present TeachNet, a novel neural network architecture for intuitive and markerless vision-based teleoperation of dexterous robotic hands. Robot joint angles are directly generated from depth images of the human hand that…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller,…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…

Extended Reality (XR) provides a more intuitive interaction method for teleoperating robots compared to traditional 2D controls. Recent studies have laid the groundwork for usable teleoperation with XR, but it fails in tasks requiring rapid…

In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…