11 accepted papers
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation learning approach is proposed. This approach leverages a tas
Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction quality and rendering speed. However, two major limitations
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallel
In warehousing systems, to enhance efficiency amid surging demand volumes, much attention has been placed on how to reasonably allocate tasks of delivery to robots. However, the labor of robots is still inevitably wasted to some extent. In this paper, we propose a pre-scheduling enhanced warehousing
Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs
Human-robot shared visual servoing systems can combine the precise control ability of the robot and the human decision-making ability. However, integrating human input into such systems remains a challenging endeavor. This work studies the robot visual servoing control system in the human-robot shar
This paper presents a novel voluntary control method for a hand assistive exoskeleton, leveraging an sEMG-driven musculoskeletal model to improve the performance of grasping tasks. To address the challenge of inadequate personalization in current hand exoskeleton assistance strategies, this research
Estimating camera motion and continuously reconstructing dense scenes in deformable environments presents a complex and open challenge. Many existing approaches tend to rely on assumptions about the scene’s topology or the nature of deformable motion. However, these assumptions do not hold true in m…
Building a self-model for robots, enabling them to simulate their physical selves and predict future states without direct interaction with the physical world, is crucial for robot motion planning and control. Existing self-modeling methods primarily focus on rigid robots and typically require signi…
Most of the research on deformable objects manipulation (DOM) is under the assumption of fixed contact (FC). Although there are some attempts to break this assumption, research on DOM with the fully non-fixed contact (FNFC), which refers that the object is not fixedly connected to both the end-effec
This study proposes a hybrid vision/force control scheme for interaction with the inner surface of the bottle-like object. Based on the geometry of the object, a new generalized constraint called the bottleneck (BN) constraint is proposed, which ensures the tool passes through a fixed 3-D region and…