相关论文: Prescient teleoperation of humanoid robots

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…

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…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…

We build a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand. The robot observes the human operator via a single RGB camera and imitates their actions in real-time. Human…

In the approximately century-long journey of robotics, humanoid robots made their debut around six decades ago. While current humanoids bear human-like appearances, none have embodied true humaneness, remaining distant from achieving…

Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant…

Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…

Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…

Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…

Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…

We present a universal motion representation that encompasses a comprehensive range of motor skills for physics-based humanoid control. Due to the high dimensionality of humanoids and the inherent difficulties in reinforcement learning,…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…

In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…