A demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene perception, and robot control is presented and it is shown that the learned spoon motions can be reproduced within the detected experimental scene.
Kenzhi Iskandar Wong, Kitti Thamrongaphichartkul, Sri Harsha Turlapati et al.· 0 citations
Assistive robots increasingly operate in many human-centered environments and perform various human-robot interaction (HRI) tasks, such as object delivery. However, most existing HRI systems rely on RGB cameras that continuously observe humans to respond to non-verbal commands, such as hand gestures. This raises privac...
Jun-Qiao Fan, Yuxuan Hu, Bofan Lyu et al.· 0 citations
This work proposes UCA-Flow, a unified condition-action modeling framework for accurate one-step action generation that unifies observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, and processes them with a Unified Condition-Action Transformer for joint condition-a...
Xin-Yu Zhou, Zikun Cai, Kuangji Zuo et al.· 0 citations
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