Related papers: Holonomy: A Virtual Reality Exploration of Hyperbo…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
We present a new approach for redirected walking in static and dynamic scenes that uses techniques from robot motion planning to compute the redirection gains that steer the user on collision-free paths in the physical space. Our first…
Artificial neural networks (ANNs) were inspired by the architecture and functions of the human brain and have revolutionised the field of artificial intelligence (AI). Inspired by studies on the latent geometry of the brain, in this…
Ultrasound (US) imaging provides a safe and accessible solution to procedural guidance and diagnostic imaging. The effective usage of conventional 2D US for interventional guidance requires extensive experience to project the image plane…
Foundation models pre-trained on massive datasets, including large language models (LLMs), vision-language models (VLMs), and large multimodal models, have demonstrated remarkable success in diverse downstream tasks. However, recent studies…
A holonomic space $(V,H,L)$ is a normed vector space, $V$, a subgroup, $H$, of $Aut(V, \|\cdot\|)$ and a group-norm, $L$, with a convexity property. We prove that with the metric $d_L(u,v)=\inf_{a\in H}\{\sqrt{L^2(a)+\|u-av\|^2}\}$, $V$ is…
We propose DeepExplorer, a simple and lightweight metric-free exploration method for topological mapping of unknown environments. It performs task and motion planning (TAMP) entirely in image feature space. The task planner is a recurrent…
We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…
Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…
Virtual reality (VR) headsets provide an immersive, stereoscopic visual experience, but at the cost of blocking users from directly observing their physical environment. Passthrough techniques are intended to address this limitation by…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
In mobile robotics, coverage navigation refers to the deliberate movement of a robot with the purpose of covering a certain area or volume. Performing this task properly is fundamental for the execution of several activities, for instance,…
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
Hyperbolic neural networks have emerged as a powerful tool for modeling hierarchical data across diverse modalities. Recent studies show that token distributions in foundation models exhibit scale-free properties, suggesting that hyperbolic…
To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…
Fundamental concepts of thermodynamics rely on abstract physical quantities such as energy, heat and entropy, which play an important role in the process of interpreting thermal phenomena and statistical mechanics. However, these quantities…
In this thesis we provide a uniform treatment of two non-adiabatic geometric phases for dynamical systems of mixed quantum states, namely those of Uhlmann and of Sj\"{o}qvist et al. We develop a holonomy theory for the latter which we also…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world…