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Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
As Augmented Reality (AR) and Artificial Intelligence (AI) continue to converge, new opportunities emerge for AI agents to actively support human collaboration in immersive environments. While prior research has primarily focused on dyadic…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot…
We propose and study a novel cross-reality environment that seamlessly integrates a monoscopic 2D surface (an interactive screen with touch and pen input) with a stereoscopic 3D space (an augmented reality HMD) to jointly host spatial data…
Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its…
Although intended to foster spontaneous interactions among workers, a typical open-plan office layout cannot mitigate visual, acoustic, or privacy-related distractions that originate from unplanned meetings. As office workers often refrain…
We aim to help users estimate the state of the world in tasks like robotic teleoperation and navigation with visual impairments, where users may have systematic biases that lead to suboptimal behavior: they might struggle to process…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Emergency response events are fast-paced, noisy, and they require teamwork to accomplish the mission. Furthermore, the increasing deployment of Unmanned Aerial Vehicles (UAVs) alongside emergency responders, demands a new form of…
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…
Understanding visual scenes requires not only recognizing objects but also reasoning about their spatial relationships. Unlike general vision-language tasks, spatial reasoning requires integrating multiple inductive biases, such as 2D…
As the COVID-19 pandemic expands, the shortening of medical equipment is swelling. A key piece of equipment getting far-out attention has been ventilators. The difference between supply and demand is substantial to be handled with normal…
High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
The rapid development of virtual reality technology has increased its availability and, consequently, increased the number of its possible applications. The interest in the new medium has grown due to the entertainment industry (games, VR…