Related papers: MIHRaGe: A Mixed-Reality Interface for Human-Robot…
Numerous diseases and aging can cause degeneration of people's balance ability resulting in limited mobility and even high risks of fall. Robotic technologies can provide more intensive rehabilitation exercises or be used as assistive…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
Gaze input, as a modality inherently conveying user intent, offers intuitive and immersive experiences in extended reality (XR). With eye-tracking now being a standard feature in modern XR headsets, gaze has been extensively applied to…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
While zero-shot appearance-based 3D gaze estimation offers significant cost-efficiency by directly mapping RGB images to gaze vectors, its reliability in Human-Robot Interaction (HRI) settings remains uncertain. Existing benchmarks…
Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…
We present our current research on the implementation of gaze as an efficient and usable pointing modality supplementary to speech, for interacting with augmented objects in our daily environment or large displays, especially immersive…
Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional…
Enabling robots to understand human gaze target is a crucial step to allow capabilities in downstream tasks, for example, attention estimation and movement anticipation in real-world human-robot interactions. Prior works have addressed the…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Natural human interactions for Mixed Reality Applications are overwhelmingly multimodal: humans communicate intent and instructions via a combination of visual, aural and gestural cues. However, supporting low-latency and accurate…
Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…