{"id":"https://openalex.org/W7169854209","doi":"https://doi.org/10.48550/arxiv.2607.17323","title":"From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation","display_name":"From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation","publication_year":2026,"publication_date":"2026-07-19","ids":{"openalex":"https://openalex.org/W7169854209","doi":"https://doi.org/10.48550/arxiv.2607.17323"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.17323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.17323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071728519","display_name":"Murilo Vinicius da Silva","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"da Silva, Murilo Vinicius","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141251209","display_name":"Ricardo V. Godoy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Godoy, Ricardo V.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141304122","display_name":"Juliano Negri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Negri, Juliano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139004056","display_name":"Gustavo J. G. Lahr","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lahr, Gustavo J. G.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141284184","display_name":"Ranulfo Bezerra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bezerra, Ranulfo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5141306426","display_name":"Marcelo Becker","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Becker, Marcelo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4352000057697296,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4352000057697296,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.34299999475479126,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.1324000060558319,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.657800018787384},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5806999802589417},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5328999757766724},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5281000137329102},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4805999994277954},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4546999931335449},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44519999623298645},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4440999925136566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44040000438690186},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.43380001187324524}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.657800018787384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6134999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6072999835014343},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5806999802589417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5374000072479248},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5328999757766724},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5281000137329102},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4805999994277954},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4546999931335449},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44519999623298645},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44040000438690186},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.43380001187324524},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.41530001163482666},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38499999046325684},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.37459999322891235},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3637999892234802},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.36340001225471497},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.3630000054836273},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34200000762939453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34139999747276306},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.3375999927520752},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.328900009393692},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32179999351501465},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.259799987077713},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.25220000743865967},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.17323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.17323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.17323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Teleoperating":[0],"a":[1,23,41,67,76,82,97,103,118,134,164,173,180,221],"robotic":[2],"manipulator":[3],"in":[4,25,85,102,228,249],"industrial":[5,217],"environments":[6],"demands":[7],"precision":[8],"that":[9,44,122],"camera-based":[10],"interfaces":[11],"alone":[12],"struggle":[13],"to":[14,155,187],"deliver.":[15],"The":[16,70,168,177],"operator":[17,47,205],"must":[18],"align":[19],"the":[20,35,46,56,86,109,138,142,146,157,160,192,195,204,208,224,234,237],"end-effector":[21],"with":[22,34],"target":[24,72,144,162],"clutter,":[26],"under":[27],"limited":[28],"depth":[29],"perception,":[30],"and":[31,60,90,125,191,220,245],"without":[32,63,163],"colliding":[33],"surrounding":[36],"structures.":[37],"This":[38],"paper":[39],"presents":[40],"shared-autonomy":[42],"framework":[43,169,226],"assists":[45],"throughout":[48],"this":[49],"process.":[50],"A":[51],"single":[52],"RGB-D":[53],"camera":[54],"captures":[55],"operator's":[57,139],"arm":[58,196,209],"motion":[59,114],"hand":[61],"gestures":[62],"wearables,":[64],"fiducials,":[65],"or":[66,236],"calibration":[68],"stage.":[69],"intended":[71],"is":[73,115,170],"specified":[74],"by":[75,81,96,117,212],"free-form":[77],"text":[78],"prompt,":[79],"grounded":[80,143],"vision-language":[83],"model":[84],"robot's":[87],"gripper":[88],"camera,":[89],"tracked":[91],"across":[92],"its":[93],"onboard":[94],"cameras":[95],"promptable":[98],"video-segmentation":[99],"model,":[100],"resulting":[101],"grasp":[104,158],"frame":[105],"continuously":[106],"separated":[107],"from":[108,201],"obstacle":[110],"map.":[111],"Every":[112],"commanded":[113],"executed":[116],"GPU-accelerated":[119],"model-predictive":[120],"controller":[121,193],"enforces":[123],"self-":[124],"environment-collision":[126],"avoidance":[127],"against":[128],"an":[129,216],"online":[130],"volumetric":[131],"reconstruction,":[132],"while":[133,203,231],"potential":[135],"field":[136],"corrects":[137],"reference":[140],"toward":[141],"during":[145],"final":[147],"approach.":[148],"An":[149],"autonomous":[150,246],"mode":[151],"can":[152],"be":[153],"gesture-triggered":[154],"complete":[156],"on":[159,172],"same":[161],"separate":[165],"perception":[166],"pipeline.":[167],"validated":[171],"quadruped":[174],"mobile":[175],"manipulator.":[176],"interface":[178],"achieves":[179],"positional":[181],"RMSE":[182],"of":[183,251],"59":[184],"mm":[185],"relative":[186],"motion-capture":[188],"ground":[189],"truth,":[190],"keeps":[194],"at":[197],"least":[198],"18":[199],"cm":[200],"obstacles":[202],"deliberately":[206],"commands":[207],"into":[210],"them":[211],"6":[213],"cm.":[214],"In":[215],"valve":[218],"manipulation":[219],"pick-and-place":[222],"task,":[223],"full":[225],"succeeded":[227,248],"all":[229],"trials,":[230],"ablating":[232],"either":[233],"collision":[235],"assistance":[238],"module":[239],"produced":[240],"failures":[241],"through":[242],"complementary":[243],"mechanisms,":[244],"execution":[247],"four":[250],"five":[252],"trials":[253],"per":[254],"task.":[255]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-22T00:00:00"}