相关论文: AnyTeleop: A General Vision-Based Dexterous Robot …

Imitation Learning (IL) is a powerful paradigm to teach robots to perform manipulation tasks by allowing them to learn from human demonstrations collected via teleoperation, but has mostly been limited to single-arm manipulation. However,…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional,…

Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…

We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Recent works in the robot learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control,…

Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…

Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…

Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of…

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…

Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with…

Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…

This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…

The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…

In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…