相关论文: Fast Explicit-Input Assistance for Teleoperation i…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian space has several drawbacks such as unintuitive control reference frames, separate translation and…
In this work, we study how to build socially intelligent robots to assist people in their homes. In particular, we focus on assistance with online goal inference, where robots must simultaneously infer humans' goals and how to help them…
Dexterous telemanipulation is crucial in advancing human-robot systems, especially in tasks requiring precise and safe manipulation. However, it faces significant challenges due to the physical differences between human and robotic hands,…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…