Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation

High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system allows for retaining the advantages of being intuitive from a physical leader-follower side while avoiding the unnecessary use of expensive physical setup. In addition, the user is endowed with additional information using augmented reality. We validate our system with a pilot study n=10 on a block stacking and rice scooping tasks where the majority rates the system favorably. Oculus App and corresponding ROS code are available on the project website: https://ar-puppeteer.github.io/

A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain new skills via the behavioral cloning approach of visuomotor diffusion policies given teleoperated demonstrations. Foundational models are being used to perform skill selection given the user's prompt in natural language. Before executing a skill the foundational model performs a precondition check given an observation of the workspace. We compare the performance of different foundational models to this end as well as give a detailed experimental evaluation of the skills taught by the user in simulation and the real world. Finally, we showcase the combined system on a challenging food serving scenario in the real world. Videos of all experimental executions, as well as the process of teaching new skills in simulation and the real world, are available on the project's website.

Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However, many tasks still need human intervention/guidance. For this reason, we present a teleoperation framework designed to provide haptic feedback to human operators based on the data from camera-based tactile sensors mounted on the robot gripper. Partial autonomy is introduced to prevent slippage of grasped objects during task execution. Notably, we rely exclusively on low-cost off-the-shelf hardware to realize an affordable solution. We demonstrate the versatility of the framework on nine different objects ranging from rigid to soft and fragile ones, using three different operators on real hardware.

Visual Action Planning with Multiple Heterogeneous Agents

Visual planning methods are promising to handle complex settings where extracting the system state is challenging. However, none of the existing works tackles the case of multiple heterogeneous agents which are characterized by different capabilities and/or embodiment. In this work, we propose a method to realize visual action planning in multi-agent settings by exploiting a roadmap built in a low-dimensional structured latent space and used for planning. To enable multi-agent settings, we infer possible parallel actions from a dataset composed of tuples associated with individual actions. Next, we evaluate feasibility and cost of them based on the capabilities of the multi-agent system and endow the roadmap with this information, building a capability latent space roadmap (C-LSR). Additionally, a capability suggestion strategy is designed to inform the human operator about possible missing capabilities when no paths are found. The approach is validated in a simulated burger cooking task and a real-world box packing task.

AdaFold: Adapting Folding Trajectories of Cloths via Feedback-loop Manipulation

We present AdaFold, a model-based feedback-loop framework for optimizing folding trajectories. AdaFold extracts a particle-based representation of cloth from RGB-D images and feeds back the representation to a model predictive control to re-plan folding trajectory at every time-step. A key component of AdaFold that enables feedback-loop manipulation is the use of semantic descriptors extracted from visual-language models. These descriptors enhance the particle representation of the cloth to distinguish between ambiguous point clouds of differently folded cloths. Our experiments demonstrate AdaFold's ability to adapt folding trajectories to cloths with varying physical properties and generalize from simulated training to real-world execution.

Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel situations. In recent years, transfer learning has received renewed interest from the community from different perspectives, including imitation learning, domain adaptation, and transfer of experience from simulation to the real world, among others. In this paper, we unify the concept of transfer learning in robotics and provide the first taxonomy of its kind considering the key concepts of robot, task, and environment. Through a review of the promises and challenges in the field, we identify the need of transferring at different abstraction levels, the need of quantifying the transfer gap and the quality of transfer, as well as the dangers of negative transfer. Via this position paper, we hope to channel the effort of the community towards the most significant roadblocks to realize the full potential of transfer learning in robotics.

Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost vision-based tactile sensors and propose a manipulation algorithm that adapts to both rigid and soft objects without requiring any knowledge of their properties. The algorithm relies on a touch and slip detection method, which considers the variation in the tactile images with respect to reference ones. We validate the approach on seven different objects, with different properties in terms of rigidity and fragility, to perform unplugging and lifting tasks. Furthermore, to enhance applicability, we combine the manipulation algorithm with a grasp sampler for the task of finding and picking a grape from a bunch without damaging~it.

A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing for replicating the folding on unseen items of the same class. We evaluate the framework in the context of automating garment folding tasks. A quantitative analysis is performed on 3 classes of garments, demonstrating that the framework reduces the need for intervention by the user. We also compare skeleton representations with RGB and binary images in a classification task on a large dataset of clothing items, motivating the use of the framework for other classes of garments.

Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning

Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap (LSR) framework, which builds a graph in a learned structured latent space to perform planning. Given multiple LSR framework instances, that differ either on their latent spaces or on the parameters for constructing the graph, we use the action information as well as the embedded nodes of the produced plans to define similarity measures. These are then utilized to select the most promising plans. We validate the performance of our Ensemble LSR (ENS-LSR) on simulated box stacking and grape harvesting tasks as well as on a real-world robotic T-shirt folding experiment.

EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics

We study the problem of learning graph dynamics of deformable objects which generalize to unknown physical properties. In particular, we leverage a latent representation of elastic physical properties of cloth-like deformable objects which we explore through a pulling interaction. We propose EDO-Net (Elastic Deformable Object - Net), a model trained in a self-supervised fashion on a large variety of samples with different elastic properties. EDO-Net jointly learns an adaptation module, responsible for extracting a latent representation of the physical properties of the object, and a forward-dynamics module, which leverages the latent representation to predict future states of cloth-like objects, represented as graphs. We evaluate EDO-Net both in simulation and real world, assessing its capabilities of: 1) generalizing to unknown physical properties of cloth-like deformable objects, 2) transferring the learned representation to new downstream tasks.