Related papers: ERUPT: An Open Toolkit for Interfacing with Robot …
As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…
Extended Reality (XR) is a rapidly growing field offering unique immersive experiences, social networking, learning, and collaboration opportunities. The continuous advancements in XR technology and industry efforts are gradually moving…
This paper presents the design and implementation of an Extended Reality (XR) platform for immersive, interactive visualization of Electronic Health Records (EHRs). The system extends beyond conventional 2D interfaces by visualizing both…
We present a collaborative extended reality (XR) prototype for 3D surgical planning and visualization. Our system consists of three key modules: XR-based immersive surgical planning, cloud-based data management, and coordinated stereoscopic…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
Researching novel user experiences in medicine is challenging due to limited access to equipment and strict ethical protocols. Extended Reality (XR) simulation technologies offer a cost- and time-efficient solution for developing…
Flood response planning in local communities is often hindered by fragmented communication across Disaster Risk Reduction and Management (DRRM) councils. In this work, we explore how extended reality (XR) can support more effective planning…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…
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…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Extended Reality (XR) provides a more intuitive interaction method for teleoperating robots compared to traditional 2D controls. Recent studies have laid the groundwork for usable teleoperation with XR, but it fails in tasks requiring rapid…
We present SpatialPrompt, an Extended Reality(XR) system that turns spatial sketches into executable constraints for controllable 3D generation. Users draw rough structures with a 3D pen and add voice prompts for semantic and stylistic…
A widespread adoption of Virtual, Augmented, and Mixed Reality (VR/AR/MR), collectively referred to as Extended Reality (XR), has become a tangible possibility to revolutionize educational and training scenarios by offering immersive,…
Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-based prototypes often lack physical contact, breaking users'…