相关论文: Quest2ROS2: A ROS 2 Framework for Bi-manual VR Tel…
We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
Collecting diverse, high-quality manipulation data for Vision-Language-Action (VLA) model training remains prohibitively expensive for many research groups, as existing teleoperation frameworks rely on specialized hardware or are tightly…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth reference tracking requires a low-level controller that converts…
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D visualization with reliable depth cues,…
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver…
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
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…
Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperforming traditional methods reliant on 2D camera feeds and…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…
Learning versatile whole-body skills by tracking various human motions is a fundamental step toward general-purpose humanoid robots. This task is particularly challenging because a single policy must master a broad repertoire of motion…