相关论文: Gaze-Guided Task Decomposition for Imitation Learn…

Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…

Decomposing knowledge into interchangeable pieces promises a generalization advantage when there are changes in distribution. A learning agent interacting with its environment is likely to be faced with situations requiring novel…

Following the gaze of people inside videos is an important signal for understanding people and their actions. In this paper, we present an approach for following gaze across views by predicting where a particular person is looking…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots. However, current methods struggle to reproduce the…

The primary objective of the dataset is to provide a better understanding of the coupling between human actions and gaze in a shared working environment with a cobot, with the aim of signifcantly enhancing the effciency and safety of…

What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…