Related papers: EgoSpot:Egocentric Multimodal Control for Hands-Fr…

Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…

This article proposes an emotive lifelike robotic face, called ExpressionBot, that is designed to support verbal and non-verbal communication between the robot and humans, with the goal of closely modeling the dynamics of natural…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

Egocentric interactive world models are essential for augmented reality and embodied AI, where visual generation must respond to user input with low latency, geometric consistency, and long-term stability. We study egocentric interaction…

Camera-equipped mobile devices, such as phones, smart glasses, and AR headsets, pose a privacy challenge for bystanders, who currently lack effective real-time mechanisms to control the capture of their picture, video, including their face.…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday…

This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Marker-based and marker-less optical skeletal motion-capture methods use an outside-in arrangement of cameras placed around a scene, with viewpoints converging on the center. They often create discomfort by possibly needed marker suits, and…

Reliable brain-computer interface (BCI) control of robots provides an intuitive and accessible means of human-robot interaction, particularly valuable for individuals with motor impairments. However, existing BCI-Robot systems face major…

Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…

Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation. To address this, this paper introduces HOMIE, a semi-autonomous teleoperation…

Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…