相关论文: Stitching Dynamic Movement Primitives and Image-ba…

Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We…

We consider the task of Image-to-Video (I2V) generation, which involves transforming static images into realistic video sequences based on a textual description. While recent advancements produce photorealistic outputs, they frequently…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…

We introduce Puppet-Master, an interactive video generator that captures the internal, part-level motion of objects, serving as a proxy for modeling object dynamics universally. Given an image of an object and a set of "drags" specifying…

This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit conditions, such as "pushing down the peg until contact".…

Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…

This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…

This paper proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the…

Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks. Nonetheless, the generalization capability of visuomotor…

This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dynamical systems allow to program additional skills without…

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Sketching is a direct and inexpensive means of visual expression. Though image-based sketching has been well studied, video-based sketch animation generation is still very challenging due to the temporal coherence requirement. In this…

This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

In this paper, we consider the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker while engaging in tasks that require physical interaction. Our approach relies on switching among a family of Dynamic…

We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…