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For the last decades, the concern of producing convincing facial animation has garnered great interest, that has only been accelerating with the recent explosion of 3D content in both entertainment and professional activities. The use of…
In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…
We introduce SketcherX, a novel robotic system for personalized portrait drawing through interactive human-robot engagement. Unlike traditional robotic art systems that rely on analog printing techniques, SketcherX captures and processes…
We present a novel approach for synthesizing 3D facial motions from audio sequences using key motion embeddings. Despite recent advancements in data-driven techniques, accurately mapping between audio signals and 3D facial meshes remains…
Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs).…
Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…
It is extremely challenging to create an animatable clothed human avatar from RGB videos, especially for loose clothes due to the difficulties in motion modeling. To address this problem, we introduce a novel representation on the basis of…
Audio-driven 3D facial animation aims to generate synchronized lip movements and vivid facial expressions from arbitrary audio clips. While existing methods can produce synchronized lip motions, they often rely on predefined identity or…
Collaborative robots are expected to be able to work alongside humans and in some cases directly replace existing human workers, thus effectively responding to rapid assembly line changes. Current methods for programming contact-rich tasks,…
Different people have different facial expressions while speaking emotionally. A realistic facial animation system should consider such identity-specific speaking styles and facial idiosyncrasies to achieve high-degree of naturalness and…
Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…
The increasing deployment of robots has significantly enhanced the automation levels across a wide and diverse range of industries. This paper investigates the automation challenges of laser-based dermatology procedures in the beauty…
Human acceptance of social robots is greatly effected by empathy and perceived understanding. This necessitates accurate and flexible responses to various input data from the user. While systems such as this can become increasingly complex…
Our project aims at supporting the creation of sustainable and meaningful longer-term human-robot relationships through the creation of embodied robots with face recognition and natural language dialogue capabilities, which exploit and…
Speech is a natural interface for humans to interact with robots. Yet, aligning a robot's voice to its appearance is challenging due to the rich vocabulary of both modalities. Previous research has explored a few labels to describe robots…
In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…
Robot-assisted therapy is an emerging form of therapy for autistic children, although designing effective robot behaviors is a challenge for effective implementation of such therapy. A series of usability tests assessed trends in the…
Natural language interfaces can simplify interaction with multi-robot systems, especially when non-expert users need to issue high-level commands. Acoustic manipulation using ultrasonic phased arrays also enables contactless object handling…
Skinning and rigging are fundamental components in animation, articulated object reconstruction, motion transfer, and 4D generation. Existing approaches predominantly rely on Linear Blend Skinning (LBS), due to its simplicity and…