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Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several domains can be addressed: Product and…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
Modeling 3D objects in domains like Computer Aided Design (CAD) is time-consuming and comes with a steep learning curve needed to master the design process as well as tool complexities. In order to simplify the modeling process, we designed…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a…
The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. For complex, cluttered scenes, motion planning approaches can often…
Digital prototyping and evaluation using 3D modeling and digital human models are becoming more practical for customizing products to the preference of a user. However, the 3D modeling is less accessible to casual users, and digital human…
Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…
With the rising interest in Virtual Reality and the fast development and improvement of available devices, new features of interactions are becoming available. One of them that is becoming very popular is hand tracking, as the idea to…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
This scientific paper explores two distinct approaches for identifying and approximating the simulation model, particularly in the context of the snap process crucial to medical device assembly. Simulation models play a pivotal role in…
Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…
Round-the-clock monitoring of human behavior and emotions is required in many healthcare applications which is very expensive but can be automated using machine learning (ML) and sensor technologies. Unfortunately, the lack of…
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…
Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…