相关论文: Improving Low-Cost Teleoperation: Augmenting GELLO…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

Legged systems have many advantages when compared to their wheeled counterparts. For example, they can more easily navigate extreme, uneven terrain. However, there are disadvantages as well, particularly the difficulty seen in modeling the…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems…

Deep reinforcement learning (DRL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. We propose two novel data augmentation techniques for DRL in…

Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…

Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…

This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…

While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…

In this work, we focus on improving the robot's dexterous capability by exploiting visual sensing and adaptive force control. TeachNet, a vision-based teleoperation learning framework, is exploited to map human hand postures to a…

Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…

Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force interaction remains a major challenge. Prior approaches are often…

We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…

Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

In recent years, reinforcement learning (RL) has gained increasing attention in control engineering. Especially, policy gradient methods are widely used. In this work, we improve the tracking performance of proximal policy optimization…