19 papers
ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Models
Yuying Zhang, Wenyan Yang, Francesco Verdoja +2
Imitation learning (IL) algorithms typically distill demonstrations into parametric policies to mimic expert behavior. However, with limited data and partial observability, such as…
Emergency Stopping for Liquid-manipulating Robots
Samuli Hynninen, Ville Kyrki
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely s…
Minimal Intervention Shared Control with Guaranteed Safety under Non-Convex Constraints
Shivam Chaubey, Francesco Verdoja, Shankar Deka +1
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. Howe…
Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations
Phuoc Nguyen, Francesco Verdoja, Ville Kyrki
A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advance…
Relational Scene Graphs for Object Grounding of Natural Language Commands
Julia Kuhn, Francesco Verdoja, Tsvetomila Mihaylova +1
Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the rob…
Interactive Identification of Granular Materials using Force Measurements
Samuli Hynninen, Tran Nguyen Le, Ville Kyrki
Despite the potential the ability to identify granular materials creates for applications such as robotic cooking or earthmoving, granular material identification remains a challen…