相关论文: Model Mediated Teleoperation with a Hand-Arm Exosk…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

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…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Haptic teleoperation typically demands sub-millisecond latency and ultra-high reliability (99.999%) in Tactile Internet. At a 1 kHz haptic signal sampling rate, this translates into an extremely high packet transmission rate, posing…

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…

In standard Reinforcement Learning (RL) settings, the interaction between the agent and the environment is typically modeled as a Markov Decision Process (MDP), which assumes that the agent observes the system state instantaneously, selects…

Dexterous telemanipulation is crucial in advancing human-robot systems, especially in tasks requiring precise and safe manipulation. However, it faces significant challenges due to the physical differences between human and robotic hands,…

While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…

Large Multimodal Models (LMMs) have shown strong potential for assisting users in tasks, such as programming, content creation, and information access, yet their interaction remains largely limited to traditional interfaces such as desktops…

This work presents DemoBot, a learning framework that enables a dual-arm, multi-finger robotic system to acquire complex manipulation skills from a single unannotated RGB-D video demonstration. The method extracts structured motion…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…

Meta reinforcement learning (Meta RL) has been amply explored to quickly learn an unseen task by transferring previously learned knowledge from similar tasks. However, most state-of-the-art algorithms require the meta-training tasks to have…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

The high request for autonomous and flexible HRI implies the necessity of deploying Machine Learning (ML) mechanisms in the robot control. Indeed, the use of ML techniques, such as Reinforcement Learning (RL), makes the robot behaviour,…

Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…

Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can require significant amounts of training data to develop robust…

Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…