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Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Advances in Micro-Electro-Mechanical Systems (MEMS) have revolutionized the digital age to a point where animate and inanimate objects can be used as a communication channel. In addition, the ubiquity of mobile phones with increasing…
Extended Reality (XR), encompassing Augmented Reality (AR), Virtual Reality (VR) and Mixed Reality (MR), is a transformative technology bridging the physical and virtual world and it has diverse potential which will be ubiquitous in the…
Extended Reality (XR) includes Virtual Reality (VR), Augmented Reality (AR) and Mixed Reality (MR). XR is an emerging technology that simulates a realistic environment for users. XR techniques have provided revolutionary user experiences in…
Multi-user Extended Reality (XR) systems enable transformative shared experiences but introduce unique software defects that compromise user experience. Understanding software defects in multi-user XR systems is crucial for enhancing system…
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
Holographic communications are gaining ground among emerging eXtended-Reality (XR) applications due to their potential to revolutionize human communication. However, these technologies are characterized by higher requirements in terms of…
As immersive eXtended Reality (XR) applications demand substantial network resources, understanding their interaction with 5G networks becomes crucial to improve them. This paper investigates the role of 5G physical-layer monitoring to…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Using Millimeter-Wave (mmWave) wireless communications is often named as the prime enabler for mobile interactive Extended Reality (XR), as it offers multi-gigabit data rates at millisecond-range latency. To achieve this, mmWave nodes must…
The integration of robotics and augmented reality (AR) presents transformative opportunities for advancing human-robot interaction (HRI) by improving usability, intuitiveness, and accessibility. This work introduces a controller-free,…
Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…
Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
Extented Reality (XR) refers to a class of contemporary services that are intertwined with a plethora of rather demanding Quality of Service (QoS) and functional requirements. Despite Kubernetes being the de-facto standard in terms of…
Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
As a key technology in metaversa, wireless ultimate extended reality (XR) has attracted extensive attentions from both industry and academia. However, the stringent latency and ultra-high data rates requirements have hindered the…
The rising interest of generalist robots seek to create robots with versatility to handle multiple tasks in a variety of environments, and human will interact with such robots through immersive interfaces. In the context of human-robot…