7 accepted papers
In this paper, we investigate the feasibility of using knowledge graphs to interpret actions and behaviors for robot manipulation control. Equipped with an uncalibrated visual servoing controller, we propose to use robot knowledge graphs to unify behavior trees and geometric constraints, conceptuali
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian space has several drawbacks such as unintuitive control reference frames, separate translation and orientation control, and limited movement capabilities that hi
In this paper, we perform robot manipulation activities in real-world environments with language contexts by integrating a compact referring image segmentation model into the robot's perception module. First, we propose CLIPU<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www
We propose a new generative model-based predictive display for robotic teleoperation over high-latency communication links. Our method is capable of rendering photo-realistic images of the scene to the human operator in real time from RGB-D images acquired by the remote robot. A preliminary explorat…
We present a human robot interface (HRI) for semi-autonomous human-in-the-loop control, that aims to tackle some of the challenges for robotics in unstructured environments. Our HRI lets the user specify desired object alignments in an image editor as geometric overlays on images. The HRI is based o
In this paper we present a public dataset to evaluate trackers used for human and robot manipulation tasks. For these tasks both high DOF motion and high accuracy is needed. We describe in detail, both the process of recording the sequences and how ground truth data was generated for the videos. The…
Upper-body disabled people can benefit from the use of robot-arms to perform every day tasks. However, the adoption of this kind of technology has been limited by the complexity of robot manipulation tasks and the difficulty in controlling a multiple-DOF arm using a joystick or a similar device. Mot…