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<!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>
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<meta name="twitter:title" content="Flying Hand" />
</head>
<body>
<section class="hero">
<div class="hero-body">
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<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://guanqihe.github.io/">Guanqi He</a><sup>*1</sup>
<a href="https://xiaofeng-guo.github.io/">Xiaofeng Guo</a><sup>*1</sup>
<a href="https://theairlab.org/">Luyi Tang</a><sup>1</sup>
<a href="https://hang0610.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/">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-3 publication-authors">
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<i style="color:rgb(0, 0, 0);">Robotics: Science and Systems (RSS) 2025</i>
</div>
<!-- <div class="is-size-4 publication-authors">
<b style="color:rgb(255, 100, 100);">Best Systems Paper Award Finalist (top 3)</b>
</div> -->
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<div class="publication-links">
<!-- PDF Link. -->
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<a href="./static/pdf/flying_hand.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
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<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- arXiv Link. -->
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<a href="https://arxiv.org/abs/2504.10334"
class="external-link button is-normal is-rounded is-dark" target="_blank">
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<i class="ai ai-arxiv"></i>
</span>
<span>ArXiv</span>
</a>
</span>
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<span class="link-block">
<a href="https://x.com/guanqi_he/status/1913285197400887338"
class="external-link button is-normal is-rounded is-dark" target="_blank">
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<i class="fab fa-twitter"></i>
</span>
<span>Summary</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/LeCAR-Lab/Flying-Hand"
class="external-link button is-normal is-rounded is-dark">
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<span>Code</span>
</a>
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</section>
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<video controls autoplay loop muted playsinline
src="./static/videos/teaser.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
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<h2 class="title is-2">Abstract</h2>
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<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 development 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,
an end-effector-centric whole-body model predictive controller, and a 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>
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<h2 class="title is-2 has-text-centered">Method</h2>
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<h2 class="subtitle has-text-centered">
pipeline
</h2>
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</section>
<!-- <h2 class="title is-2" style="text-align: center;">Experiment Results</h2> -->
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<h2 class="title is-2 has-text-centered">Experiment Results</h2>
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<p>
Control Performance
</p>
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<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>
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<p>
EE-Centric MPC
</p>
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<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/collision_avoidence.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
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<div class="title is-3">
<p>
Autonomous Policy Learning
</p>
</div>
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<div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/peginhole_2.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Peg-in-Hole
</h2>
</div>
</div>
<div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/valve_rotate_3.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Valve Rotation
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<div class="title is-3">
<p>
Human Teleoperation
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src="./static/videos/bulb_unmount_2.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Light Bulb Unmounting
</h2>
</div>
<div class="column is-6">
<video controls autoplay loop muted playsinline
src="./static/videos/bulb_mounting_2.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Light Bulb Mounting
</h2>
</div>
</div>
<div class="columns is-centered">
<div class="column is-6">
<video controls autoplay loop muted playsinline
src="./static/videos/pickandplace_glue.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Pick and Place
</h2>
</div>
<div class="column is-6">
<video controls autoplay loop muted playsinline
src="./static/videos/pickandplace_bluetape.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Pick and Place
</h2>
</div>
</div>
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<!-- <div class="columns is-centered">
<div class="column is-12">
<video controls autoplay loop muted playsinline
src="./static/videos/aerial_writing_2.mp4" poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Aerial Writing
</h2>
</div>
</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>
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<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{he2025flying,
title={Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning},
author={He, Guanqi and Guo, Xiaofeng and Tang, Luyi and Zhang, Yuanhang and Mousaei, Mohammadreza and Xu, Jiahe and Geng, Junyi and Scherer, Sebastian and Shi, Guanya},
journal={arXiv preprint arXiv:2504.10334},
year={2025}
}</code></pre>
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</section>
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