相关论文: Two-Layer Attention Optimization for Bimanual Coor…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

A key concern in integrating machine learning models in medicine is the ability to interpret their reasoning. Popular explainability methods have demonstrated satisfactory results in natural image recognition, yet in medical image analysis,…

Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…

Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…

Corrigibility of autonomous agents is an under explored part of system design, with previous work focusing on single agent systems. It has been suggested that uncertainty over the human preferences acts to keep the agents corrigible, even…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

Neural Network movement controllers promise a variety of advantages over conventional control methods, however, they are not widely adopted due to their inability to produce reliably precise movements. This research explores a bilateral…

Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…

This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…

Aligning agentic AI with user intent is critical for delegating complex, socially embedded tasks, yet user preferences are often implicit, evolving, and difficult to specify upfront. We present DoubleAgents, a system for human-agent…

Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…

In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…

Human visual system can selectively attend to parts of a scene for quick perception, a biological mechanism known as Human attention. Inspired by this, recent deep learning models encode attention mechanisms to focus on the most…

In this paper, we investigate joint resource allocation and power control mechanisms for two-cell networks, where each cell has some sub-channels which should be allocated to some users. The main goal persuaded in the current work is…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…

This paper presents a comprehensive review of techniques proposed in the literature for solving bilevel optimization problems encountered in various real-life applications. Bilevel optimization is an appropriate choice for hierarchical…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…