Related papers: Redirected Walking in Infinite Virtual Indoor Envi…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Locating small features in a large, dense object in virtual reality (VR) poses a significant interaction challenge. While existing multiscale techniques support transitions between various levels of scale, they are not focused on handling…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
HOLONOMY is a virtual environment based on the mathematical concept of hyperbolic geometry. Unlike other environments, HOLONOMY allows users to seamlessly explore an infinite hyperbolic space by physically walking. They use their body as…
Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, Computer Vision may bring substantial improvements when performing an…
Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…
Virtual reality (VR) is increasingly being used as a research platform for investigating human responses to environmental variables. While VR provides tremendous advantages in terms of variable isolation and manipulation, and ease of…
We present Roomify, a spatially-grounded transformation system that generates themed virtual environments anchored to users' physical rooms while maintaining spatial structure and functional semantics. Current VR approaches face a…
Reflected random walk in higher dimension arises from an ordinary random walk (sum of i.i.d. random variables): whenever one of the reflecting coordinates becomes negative, its sign is changed, and the process continues from that modified…
A common operation performed in Virtual Reality (VR) environments is locomotion. Although real walking can represent a natural and intuitive way to manage displacements in such environments, its use is generally limited by the size of the…
We present a passive non-line-of-sight method that infers the number of people or activity of a person from the observation of a blank wall in an unknown room. Our technique analyzes complex imperceptible changes in indirect illumination in…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Non-line-of-sight (NLOS) tracking has drawn increasing attention in recent years, due to its ability to detect object motion out of sight. Most previous works on NLOS tracking rely on active illumination, e.g., laser, and suffer from high…
We introduce a modified model of random walk, and then develop two novel clustering algorithms based on it. In the algorithms, each data point in a dataset is considered as a particle which can move at random in space according to the…
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…