Related papers: Spatial Affordance-aware Interactable Subspace All…
In recent years, there has been a renewed interest in jointly modeling perception and action. At the core of this investigation is the idea of modeling affordances(Affordances are opportunities of interaction in the scene. In other words,…
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…
In next-generation Internet services, such as Metaverse, the mixed reality (MR) technique plays a vital role. Yet the limited computing capacity of the user-side MR headset-mounted device (HMD) prevents its further application, especially…
User association, the problem of assigning each user device to a suitable base station, is increasingly crucial as wireless networks become denser and serve more users with diverse service demands. The joint optimization of user association…
Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
The concept of affordance is important to understand the relevance of object parts for a certain functional interaction. Affordance types generalize across object categories and are not mutually exclusive. This makes the segmentation of…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Remote collaborative work has become pervasive in many settings, from engineering to medical professions. Users are immersed in virtual environments and communicate through life-sized avatars that enable face-to-face collaboration. Within…
The activity-based workspace (ABW) paradigm is becoming more popular in commercial office spaces. In this strategy, occupants are given a choice of spaces to do their work and personal activities on a day-to-day basis. This paper shows the…
Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
How human interact with objects depends on the functional roles of the target objects, which introduces the problem of affordance-aware hand-object interaction. It requires a large number of human demonstrations for the learning and…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…
Mixed Reality (MR) is becoming ubiquitous as it finds its applications in education, healthcare, and other sectors beyond leisure. While MR end devices, such as headsets, have low energy intensity, the total number of devices and resource…
In virtual reality environments, the alignment of perceptual modalities is crucial for immersion and presence. In the AR domain, it is difficult to create such alignments because elements in the physical world are often beyond the user's…