相关论文: Open-TeleVision: Teleoperation with Immersive Acti…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
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…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hammering and 3mm clearance peg in hole. We propose the use of…
Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…
Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…