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Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Locomotion plays a crucial role in shaping the user experience within virtual reality environments. In particular, hands-free locomotion offers a valuable alternative by supporting accessibility and freeing users from reliance on handheld…

Autonomous vehicles are increasingly introduced into our lives. Yet, people's misunderstanding and mistrust have become the major obstacles to the use of these technologies. In response to this problem, proper work must be done to increase…

OpenPodcar is a low-cost, open source hardware and software, autonomous vehicle research platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. Hardware and software build instructions are provided to convert the…

We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly…

The adoption of self-driving cars will certainly revolutionize our lives, even though they may take more time to become fully autonomous than initially predicted. The first vehicles are already present in certain cities of the world, as…

There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…

With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of…

Data for training learning-enabled self-driving cars in the physical world are typically collected in a safe, normal environment. Such data distribution often engenders a strong bias towards safe driving, making self-driving cars unprepared…

Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I),…

This work presents a modular, Python-based simulator that simplifies the evaluation of novel vehicle control and coordination algorithms in complex traffic scenarios while keeping the implementation overhead low. It allows researchers to…

Rigorously testing autonomy systems is essential for making safe self-driving vehicles (SDV) a reality. It requires one to generate safety critical scenarios beyond what can be collected safely in the world, as many scenarios happen rarely…

In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…

Accurate modelling of road user interaction has received lot of attention in recent years due to the advent of increasingly automated vehicles. To support such modelling, there is a need to complement naturalistic datasets of road user…

Unreal Engine is a platform that has influenced immersive storytelling and virtual reality (VR) through its advanced features and diverse applications. This paper provides an in-depth technical review of Unreal Engine. It analyzes its key…

Feedback control theory has been extensively implemented to theoretically model human sensorimotor control. However, experimental platforms capable of manipulating important components of multiple feedback loops lack development. This paper…

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…

Multi-user augmented reality (AR) could someday empower first responders with the ability to see team members around corners and through walls. For this vision of people tracking in dynamic environments to be practical, we need a relative…