相关论文: A Taxonomy of Self-Handover

We build a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand. The robot observes the human operator via a single RGB camera and imitates their actions in real-time. Human…

This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…

Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

This study achieved bidirectional translation between descriptions and actions using small paired data from different modalities. The ability to mutually generate descriptions and actions is essential for robots to collaborate with humans…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…

Forecasting how human hands move in egocentric views is critical for applications like augmented reality and human-robot policy transfer. Recently, several hand trajectory prediction (HTP) methods have been developed to generate future…

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…

A cognitive handoff is a multipurpose handoff that achieves many desirable features simultaneously; e.g., seamlessness, autonomy, security, correctness, adaptability, etc. But, the development of cognitive handoffs is a challenging task…

In this work, we present BG-HOP, a generative prior that seeks to model bimanual hand-object interactions in 3D. We address the challenge of limited bimanual interaction data by extending existing single-hand generative priors,…

We present a comprehensive framework for egocentric interaction recognition using markerless 3D annotations of two hands manipulating objects. To this end, we propose a method to create a unified dataset for egocentric 3D interaction…

This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

Egocentric action recognition is essential for healthcare and assistive technology that relies on egocentric cameras because it allows for the automatic and continuous monitoring of activities of daily living (ADLs) without requiring any…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…