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Light and sound waves have the fascinating property that they can move objects through the transfer of linear or angular momentum. This ability has led to the development of optical and acoustic tweezers, with applications ranging from…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, joint manipulation of moving objects and locomotion with…
Acoustic levitation has recently demonstrated the ability to create volumetric content by trapping and quickly moving particles along reference paths to reveal shapes in mid-air. However, the problem of specifying physically feasible trap…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
We present HandOver, an extended reality (XR) interaction technique designed to unify the precision of traditional mouse input for object selection with the expressiveness of hand-tracking for object manipulation. With HandOver, the mouse…
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a…
In Human-Computer-Interaction, vibrotactile haptic feedback offers the advantage of being independent of any visual perception of the environment. Most importantly, the user's field of view is not obscured by user interface elements, and…
In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
Full-body avatar presence is crucial for immersive social and environmental interactions in digital reality. However, current devices only provide three six degrees of freedom (DOF) poses from the headset and two controllers (i.e.…
We propose a novel diffusion-based framework for reconstructing 3D geometry of hand-held objects from monocular RGB images by leveraging hand-object interaction as geometric guidance. Our method conditions a latent diffusion model on an…
Finding nearly accurate distance between two or more nearly intersecting three-dimensional (3D) objects is vital especially for collision determination such as in virtual surgeon simulation and real-time car crash simulation. Instead of…
Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…
We propose a cruiser able to move in a granular medium made of nearly 50-50 bidisperse dissipative particles under gravity. The cruiser has a circular shape with a square indentation on its edge. By shifting and then ejecting granular…
A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
We present a novel motion planning algorithm for transferring a liquid body from a source to a target container. Our approach uses a receding-horizon optimization strategy that takes into account fluid constraints and avoids collisions. In…