Related papers: ARC: Alignment-based Redirection Controller for Re…
We present ARRC (Advanced Reasoning Robot Control), a practical system that connects natural-language instructions to safe local robotic control by combining Retrieval-Augmented Generation (RAG) with RGB-D perception and guarded execution…
In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…
While virtual reality (VR) holds significant potential to revolutionize digital user interaction, how visual information is presented through VR head-mounted displays (HMDs) differs from naturalistic viewing and interactions in physical…
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…
Reinforcement learning (RL) enables social robots to generate trajectories without relying on human-designed rules or interventions, making it generally more effective than rule-based systems in adapting to complex, dynamic real-world…
Ergonomic efficiency is essential to the mass and prolonged adoption of VR/AR experiences. While VR/AR head-mounted displays unlock users' natural wide-range head movements during viewing, their neck muscle comfort is inevitably compromised…
Accurately and reliably positioning pedestrians in satellite-denied conditions remains a significant challenge. Pedestrian dead reckoning (PDR) is commonly employed to estimate pedestrian location using low-cost inertial sensor. However,…
With the recent rise of Metaverse, online multiplayer VR applications are becoming increasingly prevalent worldwide. Allowing users to move easily in virtual environments is crucial for high-quality experiences in such collaborative VR…
Robot navigation in complex environments necessitates controllers that prioritize safety while remaining performant and adaptable. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path…
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
In graph-structured multi-agent reinforcement learning (MARL) adversarial tasks such as pursuit and confrontation, agents must coordinate under highly dynamic interactions, where sparse rewards hinder efficient policy learning. We propose…
Extended Reality (XR) technologies, including Augmented Reality (AR), have attracted significant attention over the past few years and have been utilized in several fields, including education, healthcare, and manufacturing. In this paper,…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
With the increasing spread of AR head-mounted displays suitable for everyday use, interaction with information becomes ubiquitous, even while walking. However, this requires constant shifts of our attention between walking and interacting…
Adaptive Risk Control (ARC) is an online calibration strategy based on set prediction that offers worst-case deterministic long-term risk control, as well as statistical marginal coverage guarantees. ARC adjusts the size of the prediction…
Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…
Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy.…