-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathindex.html
266 lines (246 loc) · 11.2 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description" content="Flying Hand">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning</title>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
<link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="./static/css/index.css">
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script defer src="./static/js/fontawesome.all.min.js"></script>
<script src="./static/js/bulma-carousel.min.js"></script>
<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
<meta property="og:site_name" content="Flying Hand" />
<meta property="og:title" content="Flying Hand" />
<meta property="og:image:width" content="1280" />
<meta property="og:image:height" content="720" />
<meta property="article:publisher" content="" />
<meta name="twitter:card" content="summary_large_image" />
<meta name="twitter:title" content="Flying Hand" />
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning </h1>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://xiaofeng-guo.github.io/">Guanqi He</a><sup>*1</sup>
<a href="https://guanqihe.github.io/">Xiaofeng Guo</a><sup>*1</sup>
<a href="https://guanqihe.github.io/">Luyi Tang</a><sup>1</sup>
<a href="https://guanqihe.github.io/">Yuhang Zhang</a><sup>1</sup>
<a href="https://www.cs.cmu.edu/~mmousaei/">Mohammadreza Mousaei</a><sup>1</sup>
<a href="https://theairlab.org/team/jiahe/">Jiahe Xu</a><sup>1</sup>
<a href="https://ari-psu.github.io/">Junyi Geng</a><sup>2</sup>
<a href="https://theairlab.org/">Sebastian Scherer</a><sup>1</sup>
<a href="https://www.gshi.me/">Guanya Shi</a><sup>1</sup>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>*</sup>Equal Contribution, Alphabetical order</span>
<span class="author-block"><sup>1</sup>Carnegie Mellon University,</span>
<span class="author-block"><sup>2</sup>Pennsylvania State University</span>
</div>
</span>
</div>
<!-- <div class="is-size-4 publication-authors">
<b style="color:rgb(255, 100, 100);">Best Systems Paper Award Finalist (top 3)</b>
</div> -->
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="./static/pdf/flying_hand.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- arXiv Link. -->
<!-- <span class="link-block">
<a href="https://arxiv.org/abs/2407.05587"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span> -->
<!-- Video Link. -->
<!-- <span class="link-block">
<a href="https://youtu.be/g5egNbtQCwA"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span>
<span class="link-block">
<a href="./static/pdf/supplementary.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Supplementary</span>
</a>
</span> -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section>
<!-- add some text -->
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<h2 class="title is-3">Early Version, to be updated</h2>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-12">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p> Aerial manipulation has recently attracted increasing interest from both industry and academia.
Previous approaches have demonstrated success in various specific tasks.
However, their hardware design and control frameworks are often tightly coupled with task specifications,
limiting the de velopment of cross-task and cross-platform algorithms.
Inspired by the success of robot learning in tabletop manipulation,
we propose a unified aerial manipulation framework with an end-effector-centric interface that decouples
high-level platform agnostic decision-making from task-agnostic low-level control.
Our framework consists of a fully-actuated hexarotor with a 4-DoF robotic arm,
a whole-body model predictive controller, and an end-effector-centric interface to receive commands from the high-level policy.
The high-precision end-effector controller enables efficient and intuitive aerial teleoperation for versatile tasks
and facilitates the development of imitation learning policies.
Real-world experiments show that the proposed framework significantly improves end-effector tracking accuracy,
and can handle multiple aerial teleoperation and imitation learning tasks,
including writing, peg-in-hole, pick and place, changing light bulbs, etc.
We believe the proposed framework provides one way to standardize and unify aerial manipulation into
the general manipulation community and to advance the field.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
</section>
<section class="section">
<div class="columns is-centered">
<div class="column is-12">
<div class="columns is-centered">
<div class="column is-12">
<h2 class="title is-3 has-text-centered">Method</h2>
</div>
</div>
</div>
</div>
<!-- insert one image -->
<div class="container is-max-desktop">
<div class="hero-body">
<img src="./static/images/pipeline.png" alt="pipeline" style="width:100%;">
<h2 class="subtitle has-text-centered">
pipeline
</h2>
</div>
</div>
</section>
<!-- <h2 class="title is-2" style="text-align: center;">Experiment Results</h2> -->
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-12">
<div class="columns is-centered">
<div class="column is-12">
<h2 class="title is-3 has-text-centered">Experiment Results</h2>
</div>
</div>
<!-- add text at the top left of these three videos -->
<div class="title is-4">
<p>
Control Performance
</p>
</div>
<div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/endeffector_control_experiment.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
</div>
</div>
<div class="title is-4">
<p>
Autonomous Policy Learning
</p>
</div>
<div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/autonomous_experiment.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
</div>
</div>
<div class="title is-4">
<p>
Human Teleoperation
</p>
</div>
<div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/teleopertion_experiment.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- <section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;" id="press-coverage">Media</h2>
<br>
<div class="columns is-centered">
<div class="column is-centered has-text-centered">
<a target="_blank" href="https://spectrum.ieee.org/video-friday-unitree-talks-robots">
<img src="https://upload.wikimedia.org/wikipedia/commons/7/7d/IEEE-Spectrum.svg" width="70%"></img>
</a>
</div>
</div>
</section> -->
<!-- <section class="section" id="BibTeX">
<div class="container is-max-desktop">
<div class="container content">
<h2 class="titile">BibTeX</h2>
<pre><code>@article{guo2024flying,
title={Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation},
author={Guo, Xiaofeng and He, Guanqi and Xu, Jiahe and Mousaei, Mohammadreza and Geng, Junyi and Scherer, Sebastian and Shi, Guanya},
journal={arXiv preprint arXiv:2407.05587},
year={2024}
}
</code></pre>
</div>
</div>
</section> -->
</body>
</html>