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Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…
Reliable detection and segmentation of human hands are critical for enhancing safety and facilitating advanced interactions in human-robot collaboration. Current research predominantly evaluates hand segmentation under in-distribution (ID)…
Object selection is essential in virtual reality (VR) head-mounted displays (HMDs). Prior work mainly focuses on enhancing and evaluating techniques for selecting a single object in VR, leaving a gap in the techniques for multi-object…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
Distributed vertical power delivery (DVPD) architectures employ multiple parallel voltage regulators (VRs) to meet the high-power and high current density demands of modern high performance computing (HPC) systems. While full parallel…
Advances in computer networks and rendering systems facilitate the creation of distributed collaborative environments in which the distribution of information at remote locations allows efficient communication. One of the challenges in…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Mode-switching supports multilevel operations using a limited number of input methods. In Virtual Reality (VR) head-mounted displays (HMD), common approaches for mode-switching use buttons, controllers, and users' hands. However, they are…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Effective human-robot interaction (HRI) in multi-object teleoperation tasks faces significant challenges due to perceptual ambiguities in virtual reality (VR) environments and the limitations of single-modality intention recognition. This…
Reinforcement learning was carried out in a simulated environment to learn continuous velocity control over multiple motor axes. This was then applied to a real-world optical tweezers experiment with the objective of moving a laser-trapped…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
We present High-Density Visual Particle Dynamics (HD-VPD), a learned world model that can emulate the physical dynamics of real scenes by processing massive latent point clouds containing 100K+ particles. To enable efficiency at this scale,…
In this paper we present a new algorithm for multivariate interpolation of scattered data sets lying in convex domains $\Omega \subseteq \RR^N$, for any $N \geq 2$. To organize the points in a multidimensional space, we build a $kd$-tree…
Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
Traditional literature on camera network design focuses on constructing automated algorithms. These require problem specific input from experts in order to produce their output. The nature of the required input is highly unintuitive leading…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…
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…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…