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As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
We present iGibson 1.0, a novel simulation environment to develop robotic solutions for interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive home-sized scenes with 108 rooms populated with rigid…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
The physically impaired commonly have difficulties performing simple routine tasks without relying on other individuals who are not always readily available and thus make them strive for independence. While their impaired abilities can in…
A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
In this demo paper, we introduce SAPIEN, a platform for high-fidelity virtual agents driven by large language models that can hold open domain conversations with users in 13 different languages, and display emotions through facial…
Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ .…
In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of the sensors, we designed a fully physics-grounded…
Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the…
Simulation is a crucial component of any robotic system. In order to simulate correctly, we need to write complex rules of the environment: how dynamic agents behave, and how the actions of each of the agents affect the behavior of others.…
Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
This study investigates the integration of assistive therapeutic robotics, wearable sensors, and spatial sensors within an intelligent environment tailored for dementia care. The feasibility study aims to assess the collective impact of…
Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…
This work develops and demonstrates the integration of the SCAMP-5d vision system into the CoppeliaSim robot simulator, creating a semi-simulated environment. By configuring a camera in the simulator and setting up communication with the…