Related papers: DASH: Modularized Human Manipulation Simulation wi…
Distributed fiber-optic acoustic sensing (DAS) has emerged as a transformative approach for distributed vibration measurement with high spatial resolution and long measurement range while maintaining cost-efficiency. However, the…
The increase in available computing power and the Deep Learning revolution have allowed the exploration of new topics and frontiers in Artificial Intelligence research. A new field called Embodied Artificial Intelligence, which places at…
We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…
As embodied agents become central to VR, telepresence, and digital human applications, their motion must go beyond speech-aligned gestures: agents should turn toward users, respond to their movement, and maintain natural gaze. Current…
Learning to generate diverse scene-aware and goal-oriented human motions in 3D scenes remains challenging due to the mediocre characteristics of the existing datasets on Human-Scene Interaction (HSI); they only have limited scale/quality…
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in…
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joystick teleoperation. We introduce the Masked Humanoid…
VR simulation in Health Professions (HP) education demonstrates huge potential, but fixed learning content with little customization limits its application beyond lab environments. To address these limitations in the context of VR for…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
A few decades of work in the AI field have focused efforts on developing a new generation of systems which can acquire knowledge via interaction with the world. Yet, until very recently, most such attempts were underpinned by research which…
The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…
Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to…
Procedural activity assistants potentially support humans in a variety of settings, from our daily lives, e.g., cooking or assembling flat-pack furniture, to professional situations, e.g., manufacturing or biological experiments. Despite…
Humans move their hands and bodies together to communicate and solve tasks. Capturing and replicating such coordinated activity is critical for virtual characters that behave realistically. Surprisingly, most methods treat the 3D modeling…
Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…
We present a novel framework for animating humans in 3D scenes using 3D Gaussian Splatting (3DGS), a neural scene representation that has recently achieved state-of-the-art photorealistic results for novel-view synthesis but remains…
This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…
Embodied agents tasked with complex scenarios, whether in real or simulated environments, rely heavily on robust planning capabilities. When instructions are formulated in natural language, large language models (LLMs) equipped with…
The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…