相关论文: HAND Me the Data: Fast Robot Adaptation via Hand P…
This paper presents a new method to describe spatio-temporal relations between objects and hands, to recognize both interactions and activities within video demonstrations of manual tasks. The approach exploits Scene Graphs to extract key…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of…
Young children are at an increased risk of contracting contagious diseases such as COVID-19 due to improper hand hygiene. An autonomous social agent that observes children while handwashing and encourages good hand washing practices could…
We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…
Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement…
Advances in robotics have been driving the development of human-robot interaction (HRI) technologies. However, accurately perceiving human actions and achieving adaptive control remains a challenge in facilitating seamless coordination…
Hand pose estimation is a fundamental task in many human-robot interaction-related applications. However, previous approaches suffer from unsatisfying hand landmark predictions in real-world scenes and high computation burden. This paper…
Dexterity is often seen as a cornerstone of complex manipulation. Humans are able to perform a host of skills with their hands, from making food to operating tools. In this paper, we investigate these challenges, especially in the case of…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
The increasing use of robots in unstructured environments necessitates the development of effective perception and navigation strategies to enable field robots to successfully perform their tasks. In particular, it is key for such robots to…
Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dynamic gesture recognition suffer from limitations in effective…
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
The future of work does not require a choice between human and robot. Aside from explicit human-robot collaboration, robotics can play an increasingly important role in helping train workers as well as the tools they may use, especially in…
Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…
Reconstructing a 3D hand from a single-view RGB image is challenging due to various hand configurations and depth ambiguity. To reliably reconstruct a 3D hand from a monocular image, most state-of-the-art methods heavily rely on 3D…