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Research attention on natural user interfaces (NUIs) for drone flights are rising. Nevertheless, NUIs are highly diversified, and primarily evaluated by different physical environments leading to hard-to-compare performance between such…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…
This paper addresses the problem of the human operator cognitive workload estimation while controlling a robot. Being capable of assessing, in real-time, the operator's workload could help prevent calamitous events from occurring. This…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…
In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…
Virtual Reality (VR) provides new possibilities for modern knowledge work. However, the potential advantages of virtual work environments can only be used if it is feasible to work in them for an extended period of time. Until now, there…
Objective. We investigated the neural correlates of workload buildup in a fine visuomotor task called the boundary avoidance task (BAT). The BAT has been known to induce naturally occurring failures of human-machine coupling in high…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Visual instruction tuning is a key training stage of large multimodal models. However, when learning multiple visual tasks simultaneously, this approach often results in suboptimal and imbalanced overall performance due to latent knowledge…
This technical note proposes a novel airspace complexity metric that quantifies the air traffic controller workload and coordination effort for pairwise predecessor-follower aircraft operations in cruise. The pairwise dynamic workload (PDW)…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
This investigation examined the relationships among scene complexity, workload, presence, and cybersickness in virtual reality (VR) environments. Numerous factors can influence the overall VR experience, and existing research on this matter…
Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even…
Virtual reality (VR) has emerged as a powerful tool for evaluating school security measures in high-risk scenarios such as school shootings, offering experimental control and high behavioral fidelity. However, assessing new interventions in…
Virtual Reality (VR) is gaining ground in the robotics and teleoperation industry, opening new prospects as a novel computerized methodology to make humans interact with robots. In contrast with more conventional button-based…