相关论文: Single RGB-D Camera Teleoperation for General Robo…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…

Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…

Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…

Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…

Many approaches have been proposed for human pose estimation in single and multi-view RGB images. However, some environments, such as the operating room, are still very challenging for state-of-the-art RGB methods. In this paper, we propose…

Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…

We present a new algorithm for single camera 3D reconstruction, or 3D input for human-computer interfaces, based on precise tracking of an elongated object, such as a pen, having a pattern of colored bands. To configure the system, the user…

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…

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…

Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…

We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating…

Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…

Hand motion capture has been an active research topic in recent years, following the success of full-body pose tracking. Despite similarities, hand tracking proves to be more challenging, characterized by a higher dimensionality, severe…

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…

We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of…

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…

This paper proposes a new method for live free-viewpoint human performance capture with dynamic details (e.g., cloth wrinkles) using a single RGBD camera. Our main contributions are: (i) a multi-layer representation of garments and body,…

Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

We present a novel solution to the problem of 3D tracking of the articulated motion of human hand(s), possibly in interaction with other objects. The vast majority of contemporary relevant work capitalizes on depth information provided by…