9 accepted papers
Robotic pushing is a versatile non-prehensile manipulation skill that enables robots to handle ungraspable objects without specialized tools. This paper introduces a contact-aware, goal-oriented pushing framework that achieves dexterous and robust manipulation by explicitly allowing free-motion of t…
Safe, precise teleoperation demands a third-person 3D view that reveals collision clearances and task-critical geometry in full detail. Yet most systems still rely on live camera streams that offer tunnel-vision perspectives and weak depth cues, hiding hazards and denying operators the spatial conte…
Safe, precise teleoperation demands a third-person 3D view that reveals collision clearances and task-critical geometry in full detail. Yet most systems still rely on live camera streams that offer tunnel-vision perspectives and weak depth cues, hiding hazards and denying operators the spatial conte
Hand tracking plays a key role in capturing and transferring dexterous human manipulation skills to robots. However, achieving reliable tracking across diverse conditions and during complex interactions (e.g., object manipulation) remains challenging. A promising solution is to combine wearable sens…
A signed distance field (SDF) is a widely used geometric representation for robust collision detection between complex geometries, which is crucial for contact-rich simulations. While numerous works have studied SDF representations and SDF-based collision detection, achieving both memory efficiency …
In this paper, we implement the GPU-accelerated subsystem-based Alternating Direction Method of Multipliers (SubADMM) for interactive simulation. The challenging objective for interactive simulations is to deliver realistic results under tight performance, even for large-scale scenarios. We aim to a
Robotic pushing is one of the intuitive nonprehensile manipulation skills that can handle ungraspable objects without any complex task-specific tools. In this paper, we proposed a goal-driven accurate robotic pushing framework to achieve the robotic pushing tasks in practice that can operate under u
Robotic pushing is a fundamental non-prehensile manipulation skill essential for handling objects that are difficult to grasp. This letter proposes a highly accurate robotic pushing framework that utilizes an online estimated model to push objects along a given nominal trajectory, despite uncertain
We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interfac…