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Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…