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WebAssembly enables near-native execution in web applications and is increasingly adopted for tasks that demand high performance and robust security. However, its assembly-like syntax, implicit stack machine, and low-level data types make…
We introduce RealityCanvas, a mobile AR sketching tool that can easily augment real-world physical motion with responsive hand-drawn animation. Recent research in AR sketching tools has enabled users to not only embed static drawings into…
Robot Imitation Learning (IL) is a crucial technique in robot learning, where agents learn by mimicking human demonstrations. However, IL encounters scalability challenges stemming from both non-user-friendly demonstration collection…
Vision-language models (VLMs) are facing the challenges of understanding and following multimodal assembly instructions, particularly when fine-grained spatial reasoning and precise object state detection are required. In this work, we…
Neurosurgery requires exceptional precision and comprehensive preoperative planning to ensure optimal patient outcomes. Despite technological advancements, there remains a need for intuitive, accessible tools to enhance surgical preparation…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
The adoption of Building Information Modeling (BIM) and model-based design within the Architecture, Engineering, and Construction (AEC) industry has been hindered by the perception that using BIM authoring tools demands more effort than…
In real-world machine learning systems, labels are often derived from user behaviors that the system wishes to encourage. Over time, new models must be trained as new training examples and features become available. However, feedback loops…
Large language models (LLMs) often suffer from hallucination, generating factually incorrect statements when handling questions beyond their knowledge and perception. Retrieval-augmented generation (RAG) addresses this by retrieving…
Storage, organizing, and decorating are an important part of home design. While one can buy commercial items for many of these tasks, this can be costly, and re-use is more sustainable. An alternative is a "home hack", a functional assembly…
Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…
As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…
Requirements Engineering (RE) is the initial step towards building a software system. The success or failure of a software project is firmly tied to this phase, based on communication among stakeholders using natural language. The problem…
With the capabilities of understanding and executing natural language instructions, Large language models (LLMs) can potentially act as a powerful tool for textual data augmentation. However, the quality of augmented data depends heavily on…
Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
Visual programming has the potential of providing novice programmers with a low-code experience to build customized processing pipelines. Existing systems typically require users to build pipelines from scratch, implying that novice users…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…
Rebar inspection in reinforced concrete construction requires sustained awkward postures and complex mental mapping of two-dimensional drawings onto three-dimensional assemblies. This study evaluated an Augmented Reality (AR)-assisted rebar…