相关论文: Zero-Splat TeleAssist: A Zero-Shot Pose Estimation…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…
Egocentric scenes exhibit frequent occlusions, varied viewpoints, and dynamic interactions compared to typical scene understanding tasks. Occlusions and varied viewpoints can lead to multi-view semantic inconsistencies, while dynamic…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
Remote zero-shot object recognition, i.e., offloading zero-shot object recognition task from one mobile device to remote mobile edge computing (MEC) server or another mobile device, has become a common and important task to solve for 6G. In…
Early-stage visual quality inspection is vital for achieving Zero-Defect Manufacturing and minimizing production waste in modern industrial environments. However, the complexity of robust visual inspection systems and their extensive data…
We introduce T-LESS, a new public dataset for estimating the 6D pose, i.e. translation and rotation, of texture-less rigid objects. The dataset features thirty industry-relevant objects with no significant texture and no discriminative…
Stylizing a dynamic scene based on an exemplar image is critical for various real-world applications, including gaming, filmmaking, and augmented and virtual reality. However, achieving consistent stylization across both spatial and…
Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…
Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or…
We present a method for real-time stereo scene capture and remote VR visualization that allows a human operator to freely move their head and thus intuitively control their perspective during teleoperation. The stereo camera is mounted on a…
We introduce ConfidentSplat, a novel 3D Gaussian Splatting (3DGS)-based SLAM system for robust, highfidelity RGB-only reconstruction. Addressing geometric inaccuracies in existing RGB-only 3DGS SLAM methods that stem from unreliable depth…
Forklifts are used extensively in various industrial settings and are in high demand for automation. In particular, counterbalance forklifts are highly versatile and employed in diverse scenarios. However, efforts to automate these…
We present TASC, a Task-Aware Shared Control framework for teleoperated manipulation that infers task-level user intent and provides assistance throughout the task. To support everyday tasks without predefined knowledge, TASC constructs an…
Prior studies of zero-shot stance detection identify the attitude of texts towards unseen topics occurring in the same document corpus. Such task formulation has three limitations: (i) Single domain/dataset. A system is optimized on a…
Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across…
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We present a Cartesian bilateral framework built on the…