Related papers: Learning an Action-Conditional Model for Haptic Te…
Haptic feedback contributes to immersive virtual reality (VR) experiences. However, designing such feedback at scale for all objects within a VR scene remains time-consuming. We present Scene2Hap, an LLM-centered system that automatically…
Generating animation of physics-based characters with intuitive control has long been a desirable task with numerous applications. However, generating physically simulated animations that reflect high-level human instructions remains a…
An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
Sufficiently perceiving the environment is a critical factor in robot motion generation. Although the introduction of deep visual processing models have contributed in extending this ability, existing methods lack in the ability to actively…
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…
Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation…
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
This paper brings into discussion some of the most relevant technological challenges involving haptic systems in medical education. One of these challenges is choosing the suitable haptic hardware, API or framework for developing a…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
In autonomous driving (AD), accurately predicting changes in the environment can effectively improve safety and comfort. Due to complex interactions among traffic participants, however, it is very hard to achieve accurate prediction for a…
Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…
This paper introduces the first text-guided work for generating the sequence of hand-object interaction in 3D. The main challenge arises from the lack of labeled data where existing ground-truth datasets are nowhere near generalizable in…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven…