相关论文: UTTG_ A Universal Teleoperation Approach via Onlin…
Next-generation networks need to meet ubiquitous and high data-rate demand. Therefore, this paper considers the throughput and trajectory optimization of terahertz (THz)-enabled unmanned aerial vehicles (UAVs) in the sixth-generation (6G)…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Multi-task reinforcement learning endeavors to efficiently leverage shared information across various tasks, facilitating the simultaneous learning of multiple tasks. Existing approaches primarily focus on parameter sharing with carefully…
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…
Diffusion Transformers (DiT)-based video generation models with 3D full attention exhibit strong generative capabilities. Trajectory control represents a user-friendly task in the field of controllable video generation. However, existing…
The extensive application of unmanned aerial vehicles (UAVs) in military reconnaissance, environmental monitoring, and related domains has created an urgent need for accurate and efficient multi-object tracking (MOT) technologies, which are…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp…
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.…
We present UniTEX, a novel two-stage 3D texture generation framework to create high-quality, consistent textures for 3D assets. Existing approaches predominantly rely on UV-based inpainting to refine textures after reprojecting the…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
We focus on the utilisation of reactive trajectory imitation controllers for goal-directed mobile robot navigation. We propose a topological navigation graph (TNG) - an imitation-learning-based framework for navigating through environments…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…
Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…