Related papers: AR Point&Click: An Interface for Setting Robot Nav…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…
Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…
Augmented Reality (AR) solutions are providing tools that could improve applications in the medical and industrial fields. Augmentation can provide additional information in training, visualization, and work scenarios, to increase…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
Augmented Reality (AR) is transforming the way we interact with virtual information in the physical world. By overlaying digital content in real-world environments, AR enables new forms of immersive and engaging experiences. However,…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
A longstanding goal of artificial intelligence is to create artificial agents capable of learning to perform tasks that require sequential decision making. Importantly, while it is the artificial agent that learns and acts, it is still up…
We present a user interface (UI) based on augmented reality (AR) with head-mounted display (HMD) for improving situational awareness during critical operation and improve human efficiency on operations. The UI displays contextual…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
This paper introduces a novel interaction method for virtual and augmented reality called look-and-twist, which is directly analogous to point-and-click operations using a mouse and desktop. It is based on head rotation alone and is…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
This paper addresses a novel architecture for person-following robots using active search. The proposed system can be applied in real-time to general mobile robots for learning features of a human, detecting and tracking, and finally…
This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…
This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…