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This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…
Hand tracking has become an integral feature of recent generations of immersive virtual reality head-mounted displays. With the widespread adoption of this feature, hardware engineers and software developers are faced with an exciting array…
Fluoroscopic X-ray guidance is a cornerstone for percutaneous orthopaedic surgical procedures. However, two-dimensional observations of the three-dimensional anatomy suffer from the effects of projective simplification. Consequently, many…
When searching for objects in cluttered environments, it is often necessary to perform complex interactions in order to move occluding objects out of the way and fully reveal the object of interest and make it graspable. Due to the…
Virtual reality games are often centered around our feeling of "being there". That presence can be significantly enhanced by supporting physical walking. Although modern virtual reality systems enable room-scale motions, the size of our…
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it…
We propose three novel spatial data selection techniques for particle data in VR visualization environments. They are designed to be target- and context-aware and be suitable for a wide range of data features and complex scenarios. Each…
Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…
Autonomous navigation in crowded spaces poses a challenge for mobile robots due to the highly dynamic, partially observable environment. Occlusions are highly prevalent in such settings due to a limited sensor field of view and obstructing…
The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of…
Virtual Reality (VR) techniques, serving as the bridge between the real and virtual worlds, have boomed and are widely used in manufacturing, remote healthcare, gaming, etc. Specifically, VR systems offer users immersive experiences that…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
Large curved displays inside Virtual Reality environments are becoming popular for visualizing high-resolution content during analytical tasks, gaming or entertainment. Prior research showed that such displays provide a wide field of view…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observation streams that are not needed by a master might yet aid a…
Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
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…
Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…