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Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Assisted by neural networks, reinforcement learning agents have been able to solve increasingly complex tasks over the last years. The simulation environment in which the agents interact is an essential component in any reinforcement…
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth reference tracking requires a low-level controller that converts…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
In this paper, we introduce the Python framework PyMGRIT, which implements the multigrid-reduction-in-time (MGRIT) algorithm for solving the (non-)linear systems arising from the discretization of time-dependent problems. The MGRIT…
Computer-aided design (CAD) has become a critical element in the creation of nanopatterned structures and devices. In particular, with the increased adoption of easy-to-learn programming languages like Python there has been a significant…
This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through torso leaning and twisting. The hardware platform, Personal…
Painting is an artistic process of rendering visual content that achieves the high-level communication goals of an artist that may change dynamically throughout the creative process. In this paper, we present a Framework and Robotics…
The development of intelligent robots seeks to seamlessly integrate them into the human world, providing assistance and companionship in daily life and work, with the ultimate goal of achieving human-robot symbiosis. This requires robots…
An adequate education on power system operations and controls requires a hands-on experience on a graphical user interface (GUI) based software. At present, most commercial software do not have free editions with high flexibility and most…
The human-robot interaction (HRI) field has traditionally used Wizard-of-Oz (WoZ) controlled robots to explore navigation, conversational dynamics, human-in-the-loop interactions, and more to explore appropriate robot behaviors in everyday…
Transforming static images into interactive experiences remains a challenging task in computer vision. Tackling this challenge holds the potential to elevate mobile user experiences, notably through interactive and AR/VR applications.…
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…
The mobile robotic testbed is an essential and critical support to verify the effectiveness of mobile robotics research. This paper introduces a novel multi-robot testbed, named Robopheus, which exploits the ideas of virtual-physical…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
Interventions on model-internal states are fundamental operations in many areas of AI, including model editing, steering, robustness, and interpretability. To facilitate such research, we introduce $\textbf{pyvene}$, an open-source Python…
We present PyRigi, a novel Python package designed to study the rigidity properties of graphs and frameworks. Among many other capabilities, PyRigi can determine whether a graph admits only finitely many ways, up to isometries, of being…
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have…