相关论文: Self-Improving Autonomous Underwater Manipulation
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
In order to keep aquatic ecosystems safe and healthy, it is imperative that cleaning be done frequently. This research suggests the use of autonomous underwater rovers for effective underwater cleaning as a novel approach to this issue. The…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…
Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…