Visual servoing
View article: Hybrid Visual Servoing for Robotic Assistance in ENT Microsurgery: A Case Study on Middle Ear Access
Hybrid Visual Servoing for Robotic Assistance in ENT Microsurgery: A Case Study on Middle Ear Access Open
International audience
View article: Transformer Driven Visual Servoing and Dual Arm Impedance Control for Fabric Texture Matching
Transformer Driven Visual Servoing and Dual Arm Impedance Control for Fabric Texture Matching Open
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that combi…
View article: How Robot Kinematics Influence Human Performance in Virtual Robot-to-Human Handover Tasks
How Robot Kinematics Influence Human Performance in Virtual Robot-to-Human Handover Tasks Open
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study e…
View article: How Robot Kinematics Influence Human Performance in Virtual Robot-to-Human Handover Tasks
How Robot Kinematics Influence Human Performance in Virtual Robot-to-Human Handover Tasks Open
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study e…
View article: PATH PLANNING FOR GRAIN HARVESTERS BASED ON THE VS-IRRT ALGORITHM
PATH PLANNING FOR GRAIN HARVESTERS BASED ON THE VS-IRRT ALGORITHM Open
To address the problems of slow path planning speed, high path cost, and visual positioning errors encountered by grain harvesters during field operations, this study proposes an improved rapidly-exploring random tree algorithm integrated …
View article: Visual Localization and Policy Learning for Robotic Large-Diameter Peg-in-Hole Assembly Tasks
Visual Localization and Policy Learning for Robotic Large-Diameter Peg-in-Hole Assembly Tasks Open
The conventional component assembly techniques employed in manufacturing industries typically necessitate laborious manual parameter calibration prior to system deployment, while existing vision-based control algorithms suffer from limited…
View article: Observer Actor: Active Vision Imitation Learning with Sparse View Gaussian Splatting
Observer Actor: Active Vision Imitation Learning with Sparse View Gaussian Splatting Open
We propose Observer Actor (ObAct), a novel framework for active vision imitation learning in which the observer moves to optimal visual observations for the actor. We study ObAct on a dual-arm robotic system equipped with wrist-mounted cam…
View article: Observer Actor: Active Vision Imitation Learning with Sparse View Gaussian Splatting
Observer Actor: Active Vision Imitation Learning with Sparse View Gaussian Splatting Open
We propose Observer Actor (ObAct), a novel framework for active vision imitation learning in which the observer moves to optimal visual observations for the actor. We study ObAct on a dual-arm robotic system equipped with wrist-mounted cam…
View article: AFT: Appearance-Based Feature Tracking for Markerless and Training-Free Shape Reconstruction of Soft Robots
AFT: Appearance-Based Feature Tracking for Markerless and Training-Free Shape Reconstruction of Soft Robots Open
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…
View article: AFT: Appearance-Based Feature Tracking for Markerless and Training-Free Shape Reconstruction of Soft Robots
AFT: Appearance-Based Feature Tracking for Markerless and Training-Free Shape Reconstruction of Soft Robots Open
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…
View article: BokehFlow: Depth-Free Controllable Bokeh Rendering via Flow Matching
BokehFlow: Depth-Free Controllable Bokeh Rendering via Flow Matching Open
Bokeh rendering simulates the shallow depth-of-field effect in photography, enhancing visual aesthetics and guiding viewer attention to regions of interest. Although recent approaches perform well, rendering controllable bokeh without addi…
View article: BokehFlow: Depth-Free Controllable Bokeh Rendering via Flow Matching
BokehFlow: Depth-Free Controllable Bokeh Rendering via Flow Matching Open
Bokeh rendering simulates the shallow depth-of-field effect in photography, enhancing visual aesthetics and guiding viewer attention to regions of interest. Although recent approaches perform well, rendering controllable bokeh without addi…
View article: A Multi-Source Fusion-Based Material Tracking Method for Discrete–Continuous Hybrid Scenarios
A Multi-Source Fusion-Based Material Tracking Method for Discrete–Continuous Hybrid Scenarios Open
Special steel manufacturing involves both discrete processing events and continuous physical flows, forming a representative discrete–continuous hybrid production system. However, due to the visually homogeneous surfaces of steel products,…
View article: Robust Visual Servoing with Adaptive Hyperparameter Optimization for Autonomous Drone Package Delivery in Urban Environments
Robust Visual Servoing with Adaptive Hyperparameter Optimization for Autonomous Drone Package Delivery in Urban Environments Open
**Abstract:** This research introduces a novel approach to visual servoing for autonomous drone package delivery in complex urban environments. Conventional visual servoing systems struggle with dynamic lighting conditions, occlusions, and…
View article: Robust Visual Servoing with Adaptive Hyperparameter Optimization for Autonomous Drone Package Delivery in Urban Environments
Robust Visual Servoing with Adaptive Hyperparameter Optimization for Autonomous Drone Package Delivery in Urban Environments Open
**Abstract:** This research introduces a novel approach to visual servoing for autonomous drone package delivery in complex urban environments. Conventional visual servoing systems struggle with dynamic lighting conditions, occlusions, and…
View article: Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects
Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects Open
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article introduc…
View article: Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects
Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects Open
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article introduc…
View article: Navigating the Wild: Pareto-Optimal Visual Decision-Making in Image Space
Navigating the Wild: Pareto-Optimal Visual Decision-Making in Image Space Open
Navigating complex real-world environments requires semantic understanding and adaptive decision-making. Traditional reactive methods without maps often fail in cluttered settings, map-based approaches demand heavy mapping effort, and lear…
View article: Navigating the Wild: Pareto-Optimal Visual Decision-Making in Image Space
Navigating the Wild: Pareto-Optimal Visual Decision-Making in Image Space Open
Navigating complex real-world environments requires semantic understanding and adaptive decision-making. Traditional reactive methods without maps often fail in cluttered settings, map-based approaches demand heavy mapping effort, and lear…
View article: Robot Learning from a Physical World Model
Robot Learning from a Physical World Model Open
We introduce PhysWorld, a framework that enables robot learning from video generation through physical world modeling. Recent video generation models can synthesize photorealistic visual demonstrations from language commands and images, of…
View article: Robot Learning from a Physical World Model
Robot Learning from a Physical World Model Open
We introduce PhysWorld, a framework that enables robot learning from video generation through physical world modeling. Recent video generation models can synthesize photorealistic visual demonstrations from language commands and images, of…
View article: Development of Teleoperated Robotic System for Remote Intraocular Microsurgery
Development of Teleoperated Robotic System for Remote Intraocular Microsurgery Open
Microsurgery has revolutionized modern surgery through its precision and favorable outcomes, but it remains limited by operational difficulty and the scarcity of skilled surgeons. Advances in robotics and communication technology have enab…
View article: Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural
Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural Open
This paper presents the innovative design and successful deployment of a pioneering autonomous unmanned aerial system developed for executing the world's largest mural painted by a drone. Addressing the dual challenges of maintaining artis…
View article: Monocular vision-based visual control for SCARA-type robotic arms: a depth mapping approach
Monocular vision-based visual control for SCARA-type robotic arms: a depth mapping approach Open
The accelerated growth of an increasingly automated industry requires the use of autonomous robotic systems. However, the use of these systems commonly requires an enormous amount of sensors. In this paper we evaluate the performance of a …
View article: What is the Optimal Path for a Drone Exploring a PV Plant?
What is the Optimal Path for a Drone Exploring a PV Plant? Open
Inspecting photovoltaic (PV) plants is essential to ensure optimal performance. Drones can be employed to acquire both optical and thermal data for anomaly detection. However, while visual servoing can accurately guide a drone along indivi…
View article: VAT4MAV: Visual Active Tracking for Micro Aerial Vehicles
VAT4MAV: Visual Active Tracking for Micro Aerial Vehicles Open
Visual active tracking has become an increasingly prominent topic in robotics because of its central role in applications such as assistive robotics and surveillance. Unlike passive tracking, active methods tightly couple perception and co…
View article: Dynamic Manipulation Based on Artificial Vision and Touch
Dynamic Manipulation Based on Artificial Vision and Touch Open
Human manipulation relies on a combination of dexterous hands, tactile sensing, and visual feedback to maintain controlled interactions with objects, even without a firm grasp, as in the case of a waiter carrying a tray. Recent robotic adv…
View article: ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model
ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model Open
Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms i…
View article: Enhancing position-based visual servoing performance through transformer-based acceleration-level reinforcement learning
Enhancing position-based visual servoing performance through transformer-based acceleration-level reinforcement learning Open
Visual servoing is a fundamental approach for robotic manipulation that relies on visual feedback to precisely control robot motion. Most methods are capable of generating velocity control signals to guide the camera to the desired positio…
View article: Design and Implementation of an Autonomous Mobile Robot for Object Delivery via Homography-Based Visual Servoing
Design and Implementation of an Autonomous Mobile Robot for Object Delivery via Homography-Based Visual Servoing Open
This paper presents the design and implementation of an autonomous mobile robot system able to deliver objects from one location to another with minimal hardware requirements. Unlike most existing systems, our robot uses only a single came…