相关论文: UTTG_ A Universal Teleoperation Approach via Onlin…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
We propose a unified framework for motion control in video generation that seamlessly integrates camera movement, object-level translation, and fine-grained local motion using trajectory-based inputs. In contrast to prior methods that…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Imaging Inverse problems aim to reconstruct an underlying image from undersampled, coded, and noisy observations. Within the wide range of reconstruction frameworks, the unrolling algorithm is one of the most popular due to the synergistic…
Training robots to operate effectively in environments with uncertain states, such as ambiguous object properties or unpredictable interactions, remains a longstanding challenge in robotics. Imitation learning methods typically rely on…
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Application of traditional indirect optimization methods to optimal control problems (OCPs) with control and state path constraints is not a straightforward task. However, recent advances in regularization techniques and numerical…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
In dynamic operational environments, particularly in collaborative robotics, the inevitability of failures necessitates robust and adaptable recovery strategies. Traditional automated recovery strategies, while effective for predefined…
Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis…
We introduce the Universal Manipulation Policy Network (UMPNet) -- a single image-based policy network that infers closed-loop action sequences for manipulating arbitrary articulated objects. To infer a wide range of action trajectories,…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…
Efficient and safe navigation of Unmanned Aerial Vehicles (UAVs) is critical for various applications, including combat support, package delivery and Search and Rescue Operations. This paper introduces the Tangent Intersection Guidance…
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to…