相关论文: TacUMI: A Multi-Modal Universal Manipulation Inter…

Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…

Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

As technological advancements continue to expand the capabilities of multi unmanned-aerial-vehicle systems (mUAV), human operators face challenges in scalability and efficiency due to the complex cognitive load and operations associated…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…

Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…

Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…

Action recognition from multi-modal and multi-view observations holds significant potential for applications in surveillance, robotics, and smart environments. However, existing methods often fall short of addressing real-world challenges…

Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…

Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…

Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…

This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

Multi-solid systems are foundational to a wide range of real-world applications, yet modeling their complex interactions remains challenging. Existing deep learning methods predominantly rely on implicit modeling, where the factors…