From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation
Teleoperating a robotic manipulator in industrial environments demands precision that camera-based interfaces alone struggle to deliver. The operator must align the end-effector with a target in clutter, under limited depth perception, and without colliding with the surrounding structures. This paper presents a shared-autonomy framework that assists the operator throughout this process. A single RGB-D camera captures the operator's arm motion and hand gestures without wearables, fiducials, or a calibration stage. The intended target is specified by a free-form text prompt, grounded by a vision-language model in the robot's gripper camera, and tracked across its onboard cameras by a prompt...
| Authors | Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 July 2026 |
| Last updated at source | 19 July 2026 |
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