Related papers: ERUPT: An Open Toolkit for Interfacing with Robot …
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
This tutorial paper analyzes the traffic characteristics of immersive experiences with extended reality (XR) technologies, including Augmented reality (AR), virtual reality (VR), and mixed reality (MR). The current trend in XR applications…
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is…
The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Extended Reality (XR) is increasingly used as a productivity tool and recent commercial XR devices have even been specifically designed as productivity tools, or, at least, are heavily advertised for such purposes, such as the Apple Vision…
Lifelong mapping is crucial for the long-term deployment of robots in dynamic environments. In this paper, we present ELite, an ephemerality-aided LiDAR-based lifelong mapping framework which can seamlessly align multiple session data,…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
"Cultural Windows" is a research initiative designed to enrich cross-cultural understanding through immersive extended reality (XR) experiences. This project proposes a workflow for deploying AR and VR platforms, allowing users to explore…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot interactions. Providers, Clients, and Robots share an…
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guided robot motion planning typically assume fully specified…
By converting the entire 3D space around the user into a screen, Extended Reality (XR) can ameliorate traditional displays' space limitations and facilitate the consumption of multiple pieces of information at a time. However, if designed…
In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…
Recent improvements in Extended Reality (XR) technology created an increase in XR products and solutions in the industry, while raising new requirements for new or improved architectural concepts. This need can be particularly complex as XR…
This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under…