7 accepted papers
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in challenging scenarios. In this paper, we propose CaFe-TeleVision…
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in challenging scenarios. In this paper, we propose CaFe-TeleVision
Vision-Language-Action (VLA) models have demonstrated significant potential in real-world robotic manipulation. However, pre-trained VLA policies still suffer from substantial performance degradation during downstream deployment. Although fine-tuning can mitigate this issue, its reliance on costly d
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a hand on a wall or a handrail. This letter introduces the SEIKO
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is limited. This work proposed a hierarchical control a…
Robotic teleoperation provides human-in-the-loop capabilities of complex manipulation tasks in dangerous or remote environments, such as for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC),…
Odometry is an important element for the localization of mobile robots. For humanoid robots, it is very prone to integration errors, due to mechanical complexity, uncertainties and foot/ground contacts. Most of the time, a visual odometry is then used to encompass these problems. In this work we pro