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Training robot policies in simulation is becoming increasingly popular; nevertheless, a precise, reliable, and easy-to-use tactile simulator for contact-rich manipulation tasks is still missing. To close this gap, we develop TacEx -- a…
This paper proposes a new method for live free-viewpoint human performance capture with dynamic details (e.g., cloth wrinkles) using a single RGBD camera. Our main contributions are: (i) a multi-layer representation of garments and body,…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Mobile eye-tracking systems have been available for about a decade now and are becoming increasingly popular in different fields of application, including marketing, sociology, usability studies and linguistics. While the user-friendliness…
Target tracking, the essential ability of the human visual system, has been simulated by computer vision tasks. However, existing trackers perform well in austere experimental environments but fail in challenges like occlusion and fast…
With developments in computer graphics, hardware technology, perception engineering, and human-computer interaction, virtual reality and virtual environments are becoming more integrated into our daily lives. Head-mounted displays, however,…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Our world is not static and humans naturally cause changes in their environments through interactions, e.g., opening doors or moving furniture. Modeling changes caused by humans is essential for building digital twins, e.g., in the context…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…
Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…
Developing and evaluating vision science methods require robust and efficient tools for assessing their performance in various real-world scenarios. This study presents a novel virtual reality (VR) simulation tool that simulates real-world…
The understanding of human-object interactions is fundamental in First Person Vision (FPV). Visual tracking algorithms which follow the objects manipulated by the camera wearer can provide useful information to effectively model such…
The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics research topic. Besides simulation, components such as…
Multi-People Tracking in an open-world setting requires a special effort in precise detection. Moreover, temporal continuity in the detection phase gains more importance when scene cluttering introduces the challenging problems of occluded…
Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…