相关论文: Toward a Predictive eXtended Reality Teleoperation…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Extended reality (XR) is one of the most important applications of 5G. For real-time XR video transmission in 5G networks, a low latency and high data rate are required. In this paper, we propose a resource allocation scheme based on…
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…
As technology advances, the integration of physical, virtual, and social worlds has led to a complex landscape of ``Realities'' such as Virtual Reality (VR), Augmented Reality (AR), metaverse, spatial computing, and other emerging…
The emergence of standalone XR systems has enhanced user mobility, accommodating both subtle, frequent head motions and substantial, less frequent body motions. However, the pervasively used M2D latency metric, which measures the delay…
Extended reality (XR) is one of the most important applications of beyond 5G and 6G networks. Real-time XR video transmission presents challenges in terms of data rate and delay. In particular, the frame-by-frame transmission mode of XR…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
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…
Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving these goals is hindered by the deleterious effects of latency…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
Although access to sufficient screen space is crucial to knowledge work, workers often find themselves with limited access to display infrastructure in remote or public settings. While virtual displays can be used to extend the available…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Extended Reality (XR) technology - such as virtual and augmented reality - is now widely used in Human Computer Interaction (HCI), social science and psychology experimentation. However, these experiments are predominantly deployed in-lab…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Imitation learning relies on high-quality demonstrations, and teleoperation is a primary way to collect them, making teleoperation interface choice crucial for the data. Prior work mainly focused on static tasks, i.e., discrete, segmented…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…