7 accepted papers
Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination strategies and complex object relations from bimanual visual demonstr…
Executing bimanual manipulation tasks on humanoid robots introduces additional challenges due to inherent spatial and temporal coordination between both hands. In our previous work, we proposed the Bimanual Manipulation Taxonomy, which defines categories of bimanual manipulation strategies based on…
Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy them in dynamic and unpredictable environments. Instead, the fu…
Generating human-like robot motions is pivotal for achieving smooth human-robot interactions. Such motions contribute to better predictions of robot motions by humans, thus leading to more intuitive interaction and increased acceptability. Human likeness in robot motions has been conventionally meas…
Humans naturally execute many everyday manipulation actions with both arms simultaneously. Similarly, endowing robots with bimanual manipulation task models is key to efficiently perform complex manipulation tasks. To do so, a promising approach is to learn a library of task models from human demons…
The ability of humans to bimanually manipulate objects is unprecedented and has not been matched by robots yet. The goal-oriented coordination requires the consideration of both temporal and spatial constraints between the hands. Within this work, we propose a taxonomy which differentiates between t
Classical methods of modelling and mapping robot work cells are time consuming, expensive and involve expert knowledge. We present a novel approach to mapping and cell setup using modern Head Mounted Displays (HMDs) that possess self-localisation and mapping capabilities. We leveraged these capabili…