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Painting is an artistic process of rendering visual content that achieves the high-level communication goals of an artist that may change dynamically throughout the creative process. In this paper, we present a Framework and Robotics…
We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in human-robot interaction. RT-V2 jointly models a user's…
In the last years, robots are moving out of research laboratories to enter everyday life. Competitions aiming at benchmarking the capabilities of a robot in everyday scenarios are useful to make a step forward in this path. In fact, they…
Animal behavior reflects interactions between the nervous system, body, and environment. Therefore, biomechanics and environmental context must be considered to understand algorithms for behavioral control. Neuromechanical digital twins,…
A common operation performed in Virtual Reality (VR) environments is locomotion. Although real walking can represent a natural and intuitive way to manage displacements in such environments, its use is generally limited by the size of the…
Tactile-based reinforcement learning (RL) is currently hindered by fragmented research and a focus on over-saturated orientation tasks. We introduce v2 of the Robot Tactile Olympiad (\texttt{roto 2.0}), a GPU-parallelised benchmark designed…
We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling…
The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper,…
Humanoid robots are increasingly being integrated into learning contexts to assist teaching and learning. However, challenges remain how to design and incorporate such robots in an educational context. As an important part of teaching…
Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they…
Recent advances in learned control, large-scale simulation, and generative models have accelerated progress toward general-purpose robotic controllers, yet the field still lacks platforms suitable for safe, expressive, long-term deployment…
Recent advancements in reinforcement learning (RL) have led to significant progress in humanoid robot locomotion, simplifying the design and training of motion policies in simulation. However, the numerous implementation details make…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic…
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
Robots are envisioned to work alongside humans in applications ranging from in-home assistance to collaborative manufacturing. Research on human-robot collaboration (HRC) has helped develop various aspects of social intelligence necessary…
Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Interactive real-time rigid body simulation is a crucial tool in any modern game engine or 3D authoring tool. The quest for fast, robust and accurate simulations is ever evolving. PBRBD (Position Based Rigid Body Dynamics), a recent…