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Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS). A key challenge to its deployment in real-life operations is the presence of spuriously unsafe DRL policies. Unexplored states…
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 increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and…
We have witnessed significant progress in human-object interaction (HOI) detection. The reliance on mAP (mean Average Precision) scores as a summary metric, however, does not provide sufficient insight into the nuances of model performance…
This paper presents an implementation of a markerless tracking technique targeted to the Windows Mobile Pocket PC platform. The primary aim of this work is to allow the development of standalone augmented reality applications for handheld…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…
Runtime Monitoring is a lightweight and dynamic verification technique that involves observing the internal operations of a software system and/or its interactions with other external entities, with the aim of determining whether the system…
Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
Hand tracking has become an integral feature of recent generations of immersive virtual reality head-mounted displays. With the widespread adoption of this feature, hardware engineers and software developers are faced with an exciting array…
In this report, we present our work in visualization and augmented reality technologies supporting collaboration in manufacturing automation. Our approach is based on (i) analysis based on spatial models of automation environments, (ii)…
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…
Augmented Reality (AR) has emerged as a significant advancement in surgical procedures, offering a solution to the challenges posed by traditional neuronavigation methods. These conventional techniques often necessitate surgeons to split…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
In this paper, we introduce a new methodology for assessing the positioning accuracy of virtual reality (VR) headsets, utilizing a cooperative industrial robot to simulate user head trajectories in a reproducible manner. We conduct a…
Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, including safety risks, high cognitive demands, and potential…
This paper presents enhancements to the SAM2 framework for video object tracking task, addressing challenges such as occlusions, background clutter, and target reappearance. We introduce a hierarchical motion estimation strategy, combining…