相关论文: Towards Interpretable Motion-level Skill Assessmen…

Collaborative robots are increasingly present in industry to support human activities. However, to make the human-robot collaborative process more effective, there are several challenges to be addressed. Collaborative robotic systems need…

Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…

Purpose: In order to produce a surgical gesture recognition system that can support a wide variety of procedures, either a very large annotated dataset must be acquired, or fitted models must generalize to new labels (so called "zero-shot"…

Purpose: Previous research has shown that obtaining non-expert crowd evaluations of surgical performances concords with the gold standard of expert surgeon review, and that faster playback speed increases ratings for videos of…

Accurately modeling the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…

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…

Why do we perceive illusory motion in some static images? Several accounts have been proposed based on eye movements, response latencies to different image elements, or interactions between image patterns and motion energy detectors.…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

Despite its importance for performance and injury prevention, golf swing analysis is limited by isolated metrics, underrepresentation of professional athletes, and a lack of rich, interpretable movement representations. We address these…

This paper explores the idea that skillful assembly is best represented as dynamic sequences of Manipulation Primitives, and that such sequences can be automatically discovered by Reinforcement Learning. Manipulation Primitives, such as…

This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends to cause occlusions by the hand or the object itself, image…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…

Leveraging wearable devices for motion reconstruction has emerged as an economical and viable technique. Certain methodologies employ sparse Inertial Measurement Units (IMUs) on the human body and harness data-driven strategies to model…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…