UTTG_ A Universal Teleoperation Approach via Online Trajectory Generation

Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face robotic hardware dependency and control frequency mismatches between teleoperation devices and robotic platforms. Our approach automatically extracts kinematic parameters from unified robot description format (URDF) files, and enables pluggable deployment across diverse robots through uniform interfaces. The proposed interpolation algorithm bridges the frequency gap between low-rate human inputs and high-frequency robotic control commands through online continuous trajectory generation, \n{while requiring no access to the closed, bottom-level control loop}. To enhance trajectory smoothness, we introduce a minimum-stretch spline that optimizes the motion quality. The system further provides precision and rapid modes to accommodate different task requirements. Experiments across various robotic platforms including dual-arm ones demonstrate generality and smooth operation performance of our methods. The code is developed in C++ with python interface, and available at https://github.com/IRMV-Manipulation-Group/UTTG.

A novel TomoSAR imaging method with few observations based on nested array

Synthetic aperture radar tomography (TomoSAR) baseline optimization technique is capable of reducing system complexity and improving the temporal coherence of data, which has become an important research in the field of TomoSAR. In this paper, we propose a nested TomoSAR technique, which introduces the nested array into TomoSAR as the baseline configuration. This technique obtains uniform and continuous difference co-array through nested array to increase the degrees of freedom (DoF) of the system and expands the virtual aperture along the elevation direction. In order to make full use of the difference co-array, covariance matrix of the echo needs to be obtained. Therefore, we propose a TomoSAR sparse reconstruction algorithm based on nested array, which uses adaptive covariance matrix estimation to improve the estimation performance in complex scenes. We demonstrate the effectiveness of the proposed method through simulated and real data experiments. Compared with traditional TomoSAR and coprime TomoSAR, the imaging results of our proposed method have a better anti-noise performance and retain more image information.