相关论文: TidyBot++: An Open-Source Holonomic Mobile Manipul…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
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…
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we…
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
Scaling Vision-Language-Action models for embodied manipulation demands large volumes of diverse manipulation data, yet the high cost of commercial mobile manipulators and teleoperation interfaces that are difficult to deploy at scale…
A critical bottleneck limiting imitation learning in robotics is the lack of data. This problem is more severe in mobile manipulation, where collecting demonstrations is harder than in stationary manipulation due to the lack of available…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
We propose a novel hands-free control framework for the Boston Dynamics Spot robot using the Microsoft HoloLens 2 mixed-reality headset. Enabling accessible robot control is critical for allowing individuals with physical disabilities to…
Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…