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The development of robust learning-based control algorithms for unstable systems requires high-quality, real-world data, yet access to specialized robotic hardware remains a significant barrier for many researchers. This paper introduces a…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Our previous interview study explores the needs and uses of diagrammatic information by the Blind and Low Vision (BLV) community, resulting in a framework called the Ladder of Diagram Access. The framework outlines five levels of…
Computational notebooks such as Jupyter are popular for exploratory data analysis and insight finding. Despite the module-based structure, notebooks visually appear as a single thread of interleaved cells containing text, code,…
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…
Vision language models (VLMs) have advanced graphical user interface (GUI) task automation but still lag behind humans. We hypothesize this gap stems from missing core GUI knowledge, which existing training schemes (such as supervised fine…
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…
One of the open questions in the field of interaction design is "what inputs or interaction techniques should be used with augmented reality devices?" The transition from a touchpad and a keyboard to a multi-touch device was relatively…
Scrolling is an essential interaction technique enabling users to display previously off-screen content. Existing evaluation models for scrolling are often entangled with the selection of content, e.g., when scrolling on the phone for…
We demonstrate how interactive, three-dimensional (3-d) scientific visualizations can be efficiently interchanged between a variety of mediums. Through the use of an appropriate interchange format, and a unified interaction interface, we…
Navigation and obstacle avoidance are some of the hardest tasks for the visually impaired. Recent research projects have proposed technological solutions to tackle this problem. So far most systems fail to provide multidimensional feedback…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
Multimodal interactive maps are a solution for presenting spatial information to visually impaired people. In this paper, we present an interactive multimodal map prototype that is based on a tactile paper map, a multi-touch screen and…
The sliding window approach provides an elegant way to handle contexts of sizes larger than the Transformer's input window, for tasks like language modeling. Here we extend this approach to the sequence-to-sequence task of document parsing.…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…