相关论文: Stitching Dynamic Movement Primitives and Image-ba…
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained…
Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motion. Previous efforts in representation learning do not…
Dynamic vision sensors (DVS) are bio-inspired devices that capture visual information in the form of asynchronous events, which encode changes in pixel intensity with high temporal resolution and low latency. These events provide rich…
This paper presents Master of Puppets (MOP), an animation-by-demonstration framework that allows users to control the motion of virtual characters (puppets) in real time. In the first step, the user is asked to perform the necessary actions…
Video generation models have advanced rapidly and are beginning to show a strong understanding of physical dynamics. In this paper, we investigate how far an advanced video generation model such as Veo-3 can support generalizable robotic…
Portrait Animation aims to synthesize a lifelike video from a single source image, using it as an appearance reference, with motion (i.e., facial expressions and head pose) derived from a driving video, audio, text, or generation. Instead…
Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass.…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Deep Vein Thrombosis (DVT) is a common yet potentially fatal condition, often leading to critical complications like pulmonary embolism. DVT is commonly diagnosed using Ultrasound (US) imaging, which can be inconsistent due to its high…
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…
For microprocessors used in real-time embedded systems, minimizing power consumption is difficult due to the timing constraints. Dynamic voltage scaling (DVS) has been incorporated into modern microprocessors as a promising technique for…
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
Recent advances in video generative models enable the synthesis of realistic human-object interaction videos across a wide range of scenarios and object categories, including complex dexterous manipulations that are difficult to capture…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots…
Image-based modeling techniques can now generate photo-realistic 3D models from images. But it is up to users to provide high quality images with good coverage and view overlap, which makes the data capturing process tedious and time…