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Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
The present cross-disciplinary research explores pedestrian-autonomous vehicle interactions in a safe, virtual environment. We first present contemporary tools in the field and then propose the design and development of a new application…
Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…
Large Language Models are reshaping task automation, yet remain limited in complex, multi-step real-world tasks that require aligning with vague user intent and enabling dynamic user override. From a formative study with 12 participants, we…
Target selection is a fundamental interaction in virtual reality (VR). But the act of confirming a selection, such as a button press or pinch, can disturb the tracked pose and shift the intended target, which is referred to as the…
Performance models of interaction, such as Fitts Law, are important tools for predicting and explaining human motor performance and for designing high-performance user interfaces. Extensive prior work has proposed such models for the 3D…
Whenever we are addressing a specific object or refer to a certain spatial location, we are using referential or deictic gestures usually accompanied by some verbal description. Especially pointing gestures are necessary to dissolve…
Designed with an accessible first design approach, the presented paper describes how exploiting humans proprioception ability in 3D space can result in a more natural interaction experience when using a 3D graphical user interface in a…
Adaptive interfaces can help users perform sequential decision-making tasks like robotic teleoperation given noisy, high-dimensional command signals (e.g., from a brain-computer interface). Recent advances in human-in-the-loop machine…
Humans sense of distance depends on the integration of multi sensory cues. The incoming visual luminance, auditory pitch and tactile vibration could all contribute to the ability of distance judgement. This ability can be enhanced if the…
Mode-switching supports multilevel operations using a limited number of input methods. In Virtual Reality (VR) head-mounted displays (HMD), common approaches for mode-switching use buttons, controllers, and users' hands. However, they are…
Automated Urban Air Mobility (UAM) can improve passenger transportation and reduce congestion, but its success depends on passenger trust. While initial research addresses passengers' information needs, questions remain about how to…
As Virtual Reality becomes commonplace in the world, it is important for developers to focus on user interaction with the virtual world. Currently, there are limitations to some selection and navigation techniques that have not yet been…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
The classical (boolean) notion of refinement for behavioral interfaces of system components is the alternating refinement preorder. In this paper, we define a distance for interfaces, called interface simulation distance. It makes the…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…