相关论文: Quest2ROS2: A ROS 2 Framework for Bi-manual VR Tel…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space…
The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards,…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…
One of the goals in telepresence is to be able to perform daily tasks remotely. A key requirement for this is a robust and reliable mobile robotic platform. Ideally, such a platform should support 360-degree stereoscopic vision and…
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
This paper presents a new software framework for HRI experimentation with the sixth version of the common NAO robot produced by the United Robotics Group. Embracing the common demand of researchers for better performance and new features…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
We introduce LeVR, a modular software framework designed to bridge two critical gaps in robotic imitation learning. First, it provides robust and intuitive virtual reality (VR) teleoperation for data collection using robot arms paired with…