Related papers: iGibson 1.0: a Simulation Environment for Interact…
Context awareness is the most important research area in ubiquitous computing. In particular, for smart home, context awareness attempts to bring the best services to the home habitants. However, the implementation in the real environment…
The ability to automatically generate large-scale, interactive, and physically realistic 3D environments is crucial for advancing robotic learning and embodied intelligence. However, existing generative approaches often fail to capture the…
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
We present ASSIST, an object-wise neural radiance field as a panoptic representation for compositional and realistic simulation. Central to our approach is a novel scene node data structure that stores the information of each object in a…
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significant discrepancies between the reconstructed and observed…
Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…
Confronting the challenges of data scarcity and advanced motion synthesis in human-scene interaction modeling, we introduce the TRUMANS dataset alongside a novel HSI motion synthesis method. TRUMANS stands as the most comprehensive…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Video-based programming tutorials are a popular form of tutorial used by authors to guide learners to code. Still, the interactivity of these videos is limited primarily to control video flow. There are existing works with increased…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for…
Synthesizing human motions in 3D environments, particularly those with complex activities such as locomotion, hand-reaching, and human-object interaction, presents substantial demands for user-defined waypoints and stage transitions. These…
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…
This paper presents Gym-Ignition, a new framework to create reproducible robotic environments for reinforcement learning research. It interfaces with the new generation of Gazebo, part of the Ignition Robotics suite, which provides three…
Indoor scenes exhibit significant appearance variations due to myriad interactions between arbitrarily diverse object shapes, spatially-changing materials, and complex lighting. Shadows, highlights, and inter-reflections caused by visible…
We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…
Generating high-fidelity full-body human interactions with dynamic objects and static scenes remains a critical challenge in computer graphics and animation. Existing methods for human-object interaction often neglect scene context, leading…
Autonomous agents that navigate Graphical User Interfaces (GUIs) to automate tasks like document editing and file management can greatly enhance computer workflows. While existing research focuses on online settings, desktop environments,…
Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…