相关论文: Scene Editing as Teleoperation: A Case Study in 6D…

In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…

Significant progress has been made in scene understanding which seeks to build 3D, metric and object-oriented representations of the world. Concurrently, reinforcement learning has made impressive strides largely enabled by advances in…

The ability to interpret a scene is an important capability for a robot that is supposed to interact with its environment. The knowledge of what is in front of the robot is, for example, relevant for navigation, manipulation, or planning.…

Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…

Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…

Recent advances in text-to-image (T2I) diffusion models have significantly improved semantic image editing, yet most methods fall short in performing 3D-aware object manipulation. In this work, we present FFSE, a 3D-aware autoregressive…

Recent work on image content manipulation based on vision-language pre-training models has been effectively extended to text-driven 3D scene editing. However, existing schemes for 3D scene editing still exhibit certain shortcomings,…

Recent advances in robotic mobile manipulation have spurred the expansion of the operating environment for robots from constrained workspaces to large-scale, human environments. In order to effectively complete tasks in these spaces, robots…

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…

Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom. Yet, most current…

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…

Teletaction, the transmission of tactile feedback or touch, is a crucial aspect in the field of teleoperation. High-quality teletaction feedback allows users to remotely manipulate objects and increase the quality of the human-machine…

Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…

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…

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…

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…