This paper presents a demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene perception, and robot control. A human operator first demonstrates the scooping and feeding motions while the position and Euler-angle orientation...
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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