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Embodied AI represents a paradigm in AI research where artificial agents are situated within and interact with physical or virtual environments. Despite the recent progress in Embodied AI, it is still very challenging to learn the…

Imitation learning relies on high-quality demonstrations, and teleoperation is a primary way to collect them, making teleoperation interface choice crucial for the data. Prior work mainly focused on static tasks, i.e., discrete, segmented…

This research proposes and evaluates scoring and assessment methods for Virtual Reality (VR) training simulators. VR simulators capture detailed n-dimensional human motion data which is useful for performance analysis. Custom made medical…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Virtual locomotion remains a challenge in VR, especially in space-limited environments where room-scale walking is impractical. We present LocoScooter, a low-cost, deployable locomotion interface combining foot-sliding on a compact…

In this paper, we describe the results of replicating one of our studies from two years ago which compares two techniques for transferring content across multiple screens in VR. Results from the previous study have shown that a combined…

As interactions with autonomous agents-ranging from robots in physical settings to avatars in virtual and augmented realities-become more prevalent, developing advanced cognitive architectures is critical for enhancing the dynamics of…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

The animation of user avatars plays a crucial role in conveying their pose, gestures, and relative distances to virtual objects or other users. Self-avatar animation in immersive VR helps improve the user experience and provides a Sense of…

Virtual reality (VR) is increasingly used to enhance the ecological validity of motor control and learning studies by providing immersive, interactive environments with precise motion tracking. However, designing realistic VR-based motor…

Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to…

Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…

Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual…

We present the Levitation Simulator, a system that enables researchers and designers to iteratively develop and prototype levitation interface ideas in Virtual Reality. This includes user tests and formal experiments. We derive a model of…

Virtual Reality (VR) is rapidly increasing in popularity as a teaching tool. It allows for the creation of a highly immersive, three-dimensional virtual environment intended to simulate real-life environments. With more robots saturating…

Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…

The demand for realistic and versatile character animation has surged, driven by its wide-ranging applications in various domains. However, the animation generation algorithms modeling human pose with 2D or 3D structures all face various…

Spatial computing experiences are physically constrained by the geometry and semantics of the local user environment. This limitation is elevated in remote multi-user interaction scenarios, where finding a common virtual ground physically…