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The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Augmented reality (AR) technology provides means for embedding visualization in a real-world context. Such techniques allow situated analyses of live data in their spatial domain. However, as existing techniques have to be adapted for this…
The ubiquity and on-the-go availability of mobile devices makes them central to many tasks such as interpersonal communication and media consumption. However, despite the potential of mobile devices for on-demand exploratory data…
The intrinsic dynamics of an object governs its physical behavior in the real world, playing a critical role in enabling physically plausible interactive simulation with 3D assets. Existing methods have attempted to infer the intrinsic…
While augmented reality (AR) enables new ways to play, tell stories, and explore ideas rooted in the physical world, authoring personalized AR content remains difficult for non-experts, often requiring professional tools and time. Prior…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Augmented reality (AR) requires the seamless integration of visual, auditory, and linguistic channels for optimized human-computer interaction. While auditory and visual inputs facilitate real-time and contextual user guidance, the…
Augmented Reality (AR) presents new opportunities for immersive storytelling. However, this immersiveness faces two main hurdles. First, AR's immersive quality is often confined to visual elements, such as pixels on a screen. Second,…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Augmented Reality is the fusion of virtual components and our real surroundings. The simultaneous visibility of generated and natural objects often requires users to direct their selective attention to a specific target that is either real…
Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…
We define "visual story-writing" as using visual representations of story elements to support writing and revising narrative texts. To demonstrate this approach, we developed a text editor that automatically visualizes a graph of entity…
Emotion recognition,as a step toward mind reading,seeks to infer internal states from external cues.Most existing methods rely on explicit signals-such as facial expressions,speech,or gestures-that reflect only bodily responses and overlook…
Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
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…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…
The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly…