相关论文: BEAVR: Bimanual, multi-Embodiment, Accessible, Vir…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assistant air-to-ground communication system, where multiple UAVs form a UAV-enabled virtual antenna array (UVAA) to communicate with remote base stations by utilizing…
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception…
Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, yet current action-conditioned methods still fall short:…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…
Virtual Reality (VR) headsets, while integral to the evolving digital ecosystem, present a critical challenge: the occlusion of users' eyes and portions of their faces, which hinders visual communication and may contribute to social…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR…
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…
Virtual reality (VR) over wireless is emerging as an important use case of 5G networks. Immersive VR experience requires the delivery of huge data at ultra-low latency, thus demanding ultra-high transmission rate. This challenge can be…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
The increasing affordability of robot hardware is accelerating the integration of robots into everyday activities. However, training a robot to automate a task requires expensive trajectory data where a trained human annotator moves a…
Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…