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This paper applies the principles of Virtual Reality (VR) to robots, rather than living organisms. A simulator, of either physical states or information states, renders outputs to custom displays that fool the robot's sensors. This enables…
Rapidly developing technologies are realizing a 3D telepresence, in which geographically separated users can interact with each other through their virtual avatars. In this paper, we present novel methods to determine the avatar's position…
In this paper we report on a study conducted with a group of older adults in which they engaged in participatory design workshops to create a VR ATM training simulation. Based on observation, recordings and the developed VR application we…
In this paper VisualEnv, a new tool for creating visual environment for reinforcement learning is introduced. It is the product of an integration of an open-source modelling and rendering software, Blender, and a python module used to…
Interaction with the physical environment and different users is essential to foster a collaborative experience. For this, we propose an interaction based on a central point represented by an Augmented Reality marker in which several users…
In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…
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…
In this paper we present a system capable of collecting and annotating, human performed, robot understandable, everyday activities from virtual environments. The human movements are mapped in the simulated world using off-the-shelf virtual…
Avatars are important to create interactive and immersive experiences in virtual worlds. One challenge in animating these characters to mimic a user's motion is that commercial AR/VR products consist only of a headset and controllers,…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
Virtual reality (VR) has re-emerged as a low-cost, highly accessible consumer product, and training on simulators is rapidly becoming standard in many industrial sectors. However, the available systems are either focusing on gaming context,…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
In our daily lives, we can naturally convey instructions for the spatial manipulation of objects using words and gestures. Transposing this form of interaction into virtual reality (VR) object manipulation can be beneficial. We propose VR…
Our system introduces a modularized pneumatic actuating unit capable of delivering vibration, pressure, and impact feedback. Designed for adaptability, these modular tactile actuating units can be rapidly customized and reconfigured to suit…
In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…
The use of self-avatars in a VR application can enhance presence and embodiment which leads to a better user experience. In collaborative VR it also facilitates non-verbal communication. Currently it is possible to track a few body parts…
Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more…
Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well…
Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…