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Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Augmented Reality (AR) see-through vision is an interesting research topic since it enables users to see through a wall and see the occluded objects. Most existing research focuses on the visual effects of see-through vision, while the…

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…

The field of Human Activity Recognition (HAR) focuses on obtaining and analysing data captured from monitoring devices (e.g. sensors). There is a wide range of applications within the field; for instance, assisted living, security…

Iterative learning control (ILC) is a powerful technique for high performance tracking in the presence of modeling errors for optimal control applications. There is extensive prior work showing its empirical effectiveness in applications…

Robotic assistants in a home environment are expected to perform various complex tasks for their users. One particularly challenging task is pouring drinks into cups, which for successful completion, requires the detection and tracking of…

Intuitive robot programming through use of tracked smart input devices relies on fixed, external tracking systems, most often employing infra-red markers. Such an approach is frequently combined with projector-based augmented reality for…

This publication reports on a research project in which we set out to explore the advantages and disadvantages augmented reality (AR) technology has for visual data analytics. We developed a prototype of an AR data analytics application,…

In this report, we address the task of online mistake detection, which is vital in domains like industrial automation and education, where real-time video analysis allows human operators to correct errors as they occur. While previous work…

Eye tracking is an important tool with a wide range of applications in Virtual, Augmented, and Mixed Reality (VR/AR/MR) technologies. State-of-the-art eye tracking methods are either reflection-based and track reflections of sparse point…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

We present a novel approach for hand-object action recognition that leverages 2D point tracks as an additional motion cue. While most existing methods rely on RGB appearance, human pose estimation, or their combination, our work…

Formal verification of floating-point arithmetic remains challenging due to non-linear arithmetic behavior and the tight coupling between control and datapath logic. Existing approaches often rely on high-level C models for equivalence…

As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…

Agentic artificial intelligence (AI) -- multi-agent systems that combine large language models with external tools and autonomous planning -- are rapidly transitioning from research laboratories into high-stakes domains. Our earlier "Basic"…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

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…

Optical see-through augmented reality (OST-AR) systems like Microsoft HoloLens 2 hold promise for arm's distance guidance (e.g., surgery), but depth perception of the hologram and occlusion of real instruments remain challenging. We present…