Related papers: Demonstrating DVS: Dynamic Virtual-Real Simulation…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Scenes are continuously undergoing dynamic changes in the real world. However, existing human-scene interaction generation methods typically treat the scene as static, which deviates from reality. Inspired by world models, we introduce…
We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…
The increasing levels of software- and data-intensive driving automation call for an evolution of automotive software testing. As a recommended practice of the Verification and Validation (V&V) process of ISO/PAS 21448, a candidate standard…
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…
Learning whole-body mobile manipulation via imitation is essential for generalizing robotic skills to diverse environments and complex tasks. However, this goal is hindered by significant challenges, particularly in effectively processing…
HapticBots introduces a novel encountered-type haptic approach for Virtual Reality (VR) based on multiple tabletop-size shape-changing robots. These robots move on a tabletop and change their height and orientation to haptically render…
Dynamical system (DS)-based learning from demonstration (LfD) is a powerful tool for generating motion plans in the operation (`task') space of robotic systems. However, the realization of the generated motion plans is often compromised by…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Amateurs working on mini-films and short-form videos usually spend lots of time and effort on the multi-round complicated process of setting and adjusting scenes, plots, and cameras to deliver satisfying video shots. We present Virtual…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Spurred by the severe restrictions on mobility due to the COVID-19 pandemic, there is currently intense interest in developing the Metaverse, to offer virtual services/business online. A key enabler of such virtual service is the digital…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…
Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…