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This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

Given the rapid advance in ITS technologies, future mobility is pointing to vehicular autonomy. However, there is still a long way before full automation, and human intervention is required. This work sheds light on understanding human…

The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Most existing cross-modal language-to-video retrieval (VR) research focuses on single-modal input from video, i.e., visual representation, while the text is omnipresent in human environments and frequently critical to understand video. To…

The driving interaction-a critical yet complex aspect of daily driving-lies at the core of autonomous driving research. However, real-world driving scenarios sparsely capture rich interaction events, limiting the availability of…

We address the challenge of content diversity and controllability in pedestrian simulation for driving scenarios. Recent pedestrian animation frameworks have a significant limitation wherein they primarily focus on either following…

With the development of advanced communication technology, connected vehicles become increasingly popular in our transportation systems, which can conduct cooperative maneuvers with each other as well as road entities through…

Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

Navigating multi-level menus with complex hierarchies remains a big challenge for blind and low-vision users, who predominantly use screen readers to interact with computers. To that end, we demonstrate Wheeler, a three-wheeled input device…

Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…

Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…

While micro-scale traffic simulations provide essential data for urban planning, they are rarely coupled with the high-fidelity visualization or auralization necessary for effective stakeholder communication. In this work, we present a…

Virtual Reality (VR) is seeing increased adoption across many fields. The field of experimental cognitive science is also testing utilization of the technology combined with physiological measures such as electroencephalography (EEG) and…

Mixed Reality (MR) and Virtual Reality (VR) simulations are hampered by requirements for hand controllers or attempts to perseverate in use of two-dimensional computer interface paradigms from the 1980s. From our efforts to produce more…

Stereoscopic, head-tracked display systems can show users realistic, world-locked virtual objects and environments. However, discrepancies between the rendering pipeline and physical viewing conditions can lead to perceived instability in…

We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…