相关论文: Force-Modulated Visual Policy for Robot-Assisted D…
Image-based virtual try-on aims to transfer an in-shop clothing image to a person image. Most existing methods adopt a single global deformation to perform clothing warping directly, which lacks fine-grained modeling of in-shop clothing and…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…
Care-giving and assistive robotics, driven by advancements in AI, offer promising solutions to meet the growing demand for care, particularly in the context of increasing numbers of individuals requiring assistance. This creates a pressing…
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…
While robots present an opportunity to provide physical assistance to older adults and people with mobility impairments in bed, people frequently rest in bed with blankets that cover the majority of their body. To provide assistance for…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…
In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…
Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Automating garment manipulation poses a significant challenge for assistive robotics due to the diverse and deformable nature of garments. Traditional approaches typically require separate models for each garment type, which limits…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…