相关论文: Information-Theoretic Detection of Bimanual Intera…
Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans learn new behaviors by observing others. Many existing…
Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should take. While symbolic temporal relations…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
Recognizing human actions is a vital task for a humanoid robot, especially in domains like programming by demonstration. Previous approaches on action recognition primarily focused on the overall prevalent action being executed, but we…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
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…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…
Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…
For robotic manipulation, existing robotics datasets and simulation benchmarks predominantly cater to robot-arm platforms. However, for humanoid robots equipped with dual arms and dexterous hands, simulation tasks and high-quality…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be…