Related papers: Real-time Adaptive Prediction Method for Smooth Ha…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Numerical time integration is fundamental to the simulation of initial and boundary value problems. Traditionally, time integration schemes require adaptive time-stepping to ensure computational speed and sufficient accuracy. Although these…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
We present a novel approach enabling interactive visualization of volumetric Locally Refined B-splines (LR-splines). To this end we propose a highly efficient algorithm for direct visualization of scalar and vector fields given by an…
In this work, we present a method to estimate the mass distribution of a rigid object through robotic interactions and tactile feedback. This is a challenging problem because of the complexity of physical dynamics modeling and the action…
Estimating human pose is an important yet challenging task in multimedia applications. Existing pose estimation libraries target reproducing standard pose estimation algorithms. When it comes to customising these algorithms for real-world…
While user's perception & performance are predominantly examined independently in virtual reality, the Action-Specific Perception (ASP) theory postulates that the performance of an individual on a task modulates this individual's spatial &…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
What if a robot could rethink its own morphological representation to better meet the demands of diverse tasks? Most robotic systems today treat their physical form as a fixed constraint rather than an adaptive resource, forcing the same…
Novel view synthesis from an in-the-wild video is difficult due to challenges like scene dynamics and lack of parallax. While existing methods have shown promising results with implicit neural radiance fields, they are slow to train and…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Mixed Reality (MR) aims to blend digital and physical worlds, but the absence of haptic feedback often breaks visual-tactile consistency. We introduce Prop-Chromeleon, a MR system based on generative artificial intelligence (AI) that…
The computational modeling of high-speed flows (e.g. hypersonic) and space plasmas is characterized by a plethora of complex physical phenomena, in particular involving strong oblique shocks, bow shocks and/or shock waves boundary layer…
Robust and accurate calibration of macroscopic traffic flow models such as METANET is critical for reliable prediction and effective control. While gradient-based methods are desirable for high-dimensional parameter spaces, their…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated…
Hydrodynamics simulations are powerful tools for studying fluid behavior under physical forces, enabling extraction of features that reveal key flow characteristics. Traditional post-analysis methods offer high accuracy but incur…