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Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficult for a single contact; with whole-arm interaction involving…
The notion of preferences plays an important role in many disciplines including service robotics which is concerned with scenarios in which robots interact with humans. These interactions can be favored by robots taking human preferences…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
Introduction: Hand function is a central determinant of independence after stroke. Measuring hand use in the home environment is necessary to evaluate the impact of new interventions, and calls for novel wearable technologies. Egocentric…
Our interaction with the world is an inherently multimodal experience. However, the understanding of human-to-object interactions has historically been addressed focusing on a single modality. In particular, a limited number of works have…
Embodied foundation models require large-scale, high-quality real-world interaction data for pre-training and scaling. However, existing data collection methods suffer from high infrastructure costs, complex hardware dependencies, and…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…
Mobile GUI agents powered by Multimodal Large Language Models (MLLMs) can execute complex tasks on mobile devices. Despite this progress, most existing systems still optimize task success or efficiency, neglecting users' privacy…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
In this paper, we address the problem of estimating the hand pose from the egocentric view when the hand is interacting with objects. Specifically, we propose a method to label a dataset Ego-Siam which contains the egocentric images…
Trust has been shown to be a key factor in effective human-robot collaboration. In the context of assistive robotics, the effect of trust factors on human experience is further pronounced. Personalization of assistive robots is an…
Egocentric manipulation videos are highly challenging due to severe occlusions during interactions and frequent object entries and exits from the camera view as the person moves. Current methods typically focus on recovering either hand or…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
Egocentric vision is essential for both human and machine visual understanding, particularly in capturing the detailed hand-object interactions needed for manipulation tasks. Translating third-person views into first-person views…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Prior works on 3D hand trajectory prediction are constrained by datasets that decouple motion from semantic supervision and by models that weakly link reasoning and action. To address these, we first present the EgoMAN dataset, a…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…