5 papers
VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations
Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2
Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control can improve robustness in task success, whereas static compliance ca…
Seeing Through Occlusion: Deterministic Arm Kinematic Correction for Robot Teleoperation
Thomas M. Kwok, Nicholas Koenig, Yue Hu
Markerless, single-RGB-D-camera motion capture provides a low-cost and non-invasive alternative to conventional marker-based systems for robot teleoperation; however, depth estimat…
From Canada to Japan: How 10,000 km Affect User Perception in Robot Teleoperation
Siméon Capy, Thomas M. Kwok, Kevin Joseph +5
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance ef…
Leveraging GCN-based Action Recognition for Teleoperation in Daily Activity Assistance
Thomas M. Kwok, Jiaan Li, Yue Hu
Caregiving of older adults is an urgent global challenge, with many older adults preferring to age in place rather than enter residential care. However, providing adequate home-bas…
Robot Character Generation and Adaptive Human-Robot Interaction with Personality Shaping
Cheng Tang, Chao Tang, Steven Gong +2
We present a novel framework for designing emotionally agile robots with dynamic personalities and memory-based learning, with the aim of performing adaptive and non-deterministic…