相关论文: Using Virtual Reality to Design and Evaluate a Lun…

This document compiles results obtained from the test campaign of the European Moon Rover System (EMRS) project. The test campaign, conducted at the Planetary Exploration Lab of DLR in Wessling, aimed to understand the scope of the EMRS…

This paper explores the application of Vision-Language Models (VLMs) as operator agents in the space domain, focusing on both software and hardware operational paradigms. Building on advances in Large Language Models (LLMs) and their…

Vision Language Models (VLMs) have exhibited remarkable generalization capabilities, yet their robustness in dynamic real-world scenarios remains largely unexplored. To systematically evaluate VLMs' robustness to real-world 3D variations,…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…

Wearable Augmented Reality (AR) technologies are gaining recognition for their potential to transform surgical navigation systems. As these technologies evolve, selecting the right interaction method to control the system becomes crucial.…

Socially assistive robots (SARs) have shown great promise in supplementing and augmenting interventions to support the physical and mental well-being of older adults. However, past work has not yet explored the potential of applying SAR to…

This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…

We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the…

Augmented Reality (AR) enriches a user's real environment by adding spatially aligned virtual objects (3D models, 2D textures, textual annotations, etc) by means of special display technologies. These are either worn on the body or placed…

We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an…

Accurate 3D reconstruction of lunar surfaces is essential for space exploration. However, existing stereo vision reconstruction methods struggle in this context due to the Moon's lack of texture, difficult lighting variations, and atypical…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

The emergence of large language models (LLM) and, consequently, vision language models (VLM) has ignited new imaginations among robotics researchers. At this point, the range of applications to which LLM and VLM can be applied in…

We report our recent progress towards building generalist robot policies, the development of GR-3. GR-3 is a large-scale vision-language-action (VLA) model. It showcases exceptional capabilities in generalizing to novel objects,…

Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual…

Digital prototyping and evaluation using 3D modeling and digital human models are becoming more practical for customizing products to the preference of a user. However, the 3D modeling is less accessible to casual users, and digital human…

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…