Related papers: ERUPT: An Open Toolkit for Interfacing with Robot …
Fast and efficient path generation is critical for robots operating in complex environments. This motion planning problem is often performed in a robot's actuation or configuration space, where popular pathfinding methods such as A*, RRT*,…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…
The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively…
Extended reality (XR) technologies are highly suited in assisting individuals in learning motor skills and movements -- referred to as motion guidance. In motion guidance, the "feedforward" provides instructional cues of the motions that…
Asymmetric AR/VR collaboration systems bring a remote VR user to a local AR user's physical environment, allowing them to communicate and work within a shared virtual/physical space. Such systems often display the remote environment through…
Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully. Despite the success of large language models and vision language models based…
This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled framework that balances exploration (visiting all areas) and…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
In the Architecture, Engineering and Construction (AEC) sector, data extracted from building information modelling (BIM) can be used to create a digital twin (DT). The algorithms of a BIM-based DT can facilitate the retrieval of…
Due to the still relatively low number of users, acquiring large-scale and multidimensional virtual reality datasets remains a significant challenge. Consequently, VR datasets comparable in size to state-of-the-art collections in natural…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
Virtual Reality (VR) has become more and more popular with dropping prices for systems and a growing number of users. However, the issue of accessibility in VR has been hardly addressed so far and no uniform approach or standard exists at…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
Virtual reality is expected to play a significant role in the transformation of education and psychological studies. The possibilities for its application as a visual research method can be enhanced as established frameworks and toolkits…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…
Video conferencing has become central to professional collaboration, yet most platforms offer limited support for deaf, hard-of-hearing, and multilingual users. The World Health Organisation estimates that over 430 million people worldwide…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…