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Video synthesis methods rapidly improved in recent years, allowing easy creation of synthetic humans. This poses a problem, especially in the era of social media, as synthetic videos of speaking humans can be used to spread misinformation…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Human video generation remains challenging due to the difficulty of jointly modeling human appearance, motion, and camera viewpoint under limited multi-view data. Existing methods often address these factors separately, resulting in limited…
Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
Filming sport videos from an aerial view has always been a hard and an expensive task to achieve, especially in sports that require a wide open area for its normal development or the ones that put in danger human safety. Recently, a new…
Physical computing infrastructure, data gathering, and algorithms have recently had significant advances to extract information from images and videos. The growth has been especially outstanding in image captioning and video captioning.…
Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…
Autonomous camera systems are often subjected to an optimization/filtering operation to smoothen and stabilize the rough trajectory estimates. Most common filtering techniques do reduce the irregularities in data; however, they fail to…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Effective communication between directors and cinematographers is fundamental in film production, yet traditional approaches relying on visual references and hand-drawn storyboards often lack the efficiency and precision necessary during…
Recent advances in video diffusion models shows promise for generating robotic decision-making data, with trajectory conditions further enabling fine-grained control. However, existing methods primarily focus on individual object motion and…
We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesizes diverse, realistic 3D scenario rollouts - including map,…
The challenge of dynamic view synthesis from dynamic monocular videos, i.e., synthesizing novel views for free viewpoints given a monocular video of a dynamic scene captured by a moving camera, mainly lies in accurately modeling the…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
World models based on video generation demonstrate remarkable potential for simulating interactive environments but face persistent difficulties in two key areas: maintaining long-term content consistency when scenes are revisited and…