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Tactile sensing is essential for robots to achieve human-like gentle manipulation. However, existing Vision-Language-Action (VLA) models struggle to exploit tactile feedback for gentle manipulation due to scarce aligned…
The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrations (e.g., the UMI paradigm) offer a…
Open-vocabulary multi-object tracking (OVMOT) represents a critical new challenge involving the detection and tracking of diverse object categories in videos, encompassing both seen categories (base classes) and unseen categories (novel…
The study of complex many-body systems via analysis of the trajectories of the units that dynamically move and interact within them is a non-trivial task. The workflow for extracting meaningful information from the raw trajectory data is…
Visual navigation, a foundational aspect of Embodied AI (E-AI), has been significantly studied in the past few years. While many 3D simulators have been introduced to support visual navigation tasks, scarcely works have been directed…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
This research report explores the role of eye gaze in human-robot interactions and proposes a learning system for detecting objects gazed at by humans using solely visual feedback. The system leverages face detection, human attention…
Gesture recognition is a fundamental tool to enable novel interaction paradigms in a variety of application scenarios like Mixed Reality environments, touchless public kiosks, entertainment systems, and more. Recognition of hand gestures…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
As cameras and computers became popular, the applications of computer vision techniques attracted attention enormously. One of the most important applications in the computer vision community is human activity recognition. In order to…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Cross-view multi-object tracking aims to link objects between frames and camera views with substantial overlaps. Although cross-view multi-object tracking has received increased attention in recent years, existing datasets still have…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…
We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…