相关论文: Image-driven Robot Drawing with Rapid Lognormal Mo…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

We propose a computational framework to learn stylisation patterns from example drawings or writings, and then generate new trajectories that possess similar stylistic qualities. We particularly focus on the generation and stylisation of…

This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…

Socially competent robots should be equipped with the ability to perceive the world that surrounds them and communicate about it in a human-like manner. Representative skills that exhibit such ability include generating image descriptions…

Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

The integration of manipulator robots in household environments suggests a need for more predictable and human-like robot motion. This holds especially true for wheelchair-mounted assistive robots that can support the independence of people…

Generating reasonable and high-quality human interactive motions in a given dynamic environment is crucial for understanding, modeling, transferring, and applying human behaviors to both virtual and physical robots. In this paper, we…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the…

Text-driven human motion generation in computer vision is both significant and challenging. However, current methods are limited to producing either deterministic or imprecise motion sequences, failing to effectively control the temporal…

The Kinematic Theory of rapid movements and its associated Sigma-Lognormal model have been extensively used in a large variety of applications. While the physical and biological meaning of the model have been widely tested and validated for…

Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…

Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However, inconsistencies in topological structure, geometrical…

The Kinematic Theory of rapid movements, and its associated Sigma-Lognormal, model 2D spatiotemporal trajectories. It is constructed mainly as a temporal overlap of curves between virtual target points. Specifically, it uses an arc and a…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a human style is particularly challenging and requires a…