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Acting is an important decisional function for autonomous robots. Acting relies on skills to implement and to model the activities it oversees: refinement, local recovery, temporal dispatching, external asynchronous events, and commands…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activities of Daily Living (ADLs) over time can help us understand…
We formulate the motor system of an interactive avatar as a generative motion model that can drive the body to move through 3D space in a perpetual, realistic, controllable, and responsive manner. Although human motion generation has been…
Animating realistic avatars requires using high quality animations for every possible state the avatar can be in. This includes actions like walking or running, but also subtle movements that convey emotions and personality. Idle…
We present BulletArm, a novel benchmark and learning-environment for robotic manipulation. BulletArm is designed around two key principles: reproducibility and extensibility. We aim to encourage more direct comparisons between robotic…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Aerial filming is constantly gaining importance due to the recent advances in drone technology. It invites many intriguing, unsolved problems at the intersection of aesthetical and scientific challenges. In this work, we propose a deep…
Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…
Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…
Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning…
Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
The pursuit of realism in cinema has driven significant advancements in animatronics, where the integration of mechatronics, a multidisciplinary field that combines mechanical engineering, electronics, and computer science, plays a pivotal…
Sketching is a uniquely human tool for expressing ideas and creativity. The animation of sketches infuses life into these static drawings, opening a new dimension for designers. Animating sketches is a time-consuming process that demands…