相关论文: CUBic: Coordinated Unified Bimanual Perception and…

We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…

Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…

Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…

In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…

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.…

Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this…

Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…

UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…

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…

Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…

We report on an extensive study of the benefits and limitations of current deep learning approaches to object recognition in robot vision scenarios, introducing a novel dataset used for our investigation. To avoid the biases in currently…

Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…

Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

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…

Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks.…

Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action spaces. Previous studies rely on pre-defined action…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…