Related papers: DASH: Modularized Human Manipulation Simulation wi…
Recently, the concept of embodied intelligence has been widely accepted and popularized, leading people to naturally consider the potential for commercialization in this field. In this work, we propose a specific commercial scenario…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Human-robot collaboration is an essential research topic in artificial intelligence (AI), enabling researchers to devise cognitive AI systems and affords an intuitive means for users to interact with the robot. Of note, communication plays…
Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…
The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new source of highly scalable data for robot learning. Here, we tackle prehensile manipulation, in which tasks involve grasping an object…
Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform…
Dynamic scene reconstruction is a long-term challenge in 3D vision. Existing plane-based methods in dynamic Gaussian splatting suffer from an unsuitable low-rank assumption, causing feature overlap and poor rendering quality. Although 4D…
Augmented Reality (AR) systems describe the class of systems that use computers to overlay virtual information on the real world. AR environments allow the development of promising tools in several application domains. In medical training…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…
Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…
Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…
Physics-based simulation underpins engineering analysis but remains difficult to deploy in practice due to complex setup, parameterization, and interpretation. While Large Language Model-based agentic systems have shown promise in…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…
To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…