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Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…
The present work introduces floodlight, an open source Python package built to support and automate team sport data analysis. It is specifically designed for the scientific analysis of spatiotemporal tracking data, event data, and game…
Passive tracking methods, such as phone and wearable sensing, have become dominant in monitoring human behaviors in modern ubiquitous computing studies. While there have been significant advances in machine-learning approaches to translate…
While machine-learned interatomic potentials (MLIPs) accelerate phonon dispersion calculations, merely identifying dynamical instabilities in computationally predicted materials is insufficient; automated pathways to resolve them are…
Video and wearable sensor data provide complementary information about human movement. Video provides a holistic understanding of the entire body in the world while wearable sensors provide high-resolution measurements of specific body…
Recent advances in training-free video editing have enabled lightweight and precise cross-frame generation by leveraging pre-trained text-to-image diffusion models. However, existing methods often rely on heuristic frame selection to…
Walking assistance in extreme or complex environments remains a significant challenge for people with blindness or low vision (BLV), largely due to the lack of a holistic scene understanding. Motivated by the real-world needs of the BLV…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consisting of only one garment, while piled…
Musculoskeletal disorders (MSDs) are a leading cause of injury and productivity loss in the manufacturing industry, incurring substantial economic costs. Ergonomic assessments can mitigate these risks by identifying workplace adjustments…
Human pose, action, and motion generation are critical for applications in digital humans, character animation, and humanoid robotics. However, many existing methods struggle to produce physically plausible movements that are consistent…
Human tissue and its constituent cells form a microenvironment that is fundamentally three-dimensional (3D). However, the standard-of-care in pathologic diagnosis involves selecting a few two-dimensional (2D) sections for microscopic…
The combination of increased life expectancy and falling birth rates is resulting in an aging population. Wearable Sensor-based Human Activity Recognition (WSHAR) emerges as a promising assistive technology to support the daily lives of…
Vision-language models (VLMs) have demonstrated remarkable performance across a wide range of computer-vision tasks, sparking interest in their potential for digital health applications. Here, we apply VLMs to two fundamental challenges in…
Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…
Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…