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The rapid development of virtual reality technology has increased its availability and, consequently, increased the number of its possible applications. The interest in the new medium has grown due to the entertainment industry (games, VR…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…
Ensuring the safety and well-being of elderly and vulnerable populations in assisted living environments is a critical concern. Computer vision presents an innovative and powerful approach to predicting health risks through video…
Background: Virtual reality simulators and machine learning have the potential to augment understanding, assessment and training of psychomotor performance in neurosurgery residents. Objective: This study outlines the first application of…
Vision-language models (VLMs) have demonstrated excellent high-level planning capabilities, enabling locomotion skill learning from video demonstrations without the need for meticulous human-level reward design. However, the improper frame…
While users could embody virtual avatars that mirror their physical movements in Virtual Reality, these avatars' motions can be redirected to enable novel interactions. Excessive redirection, however, could break the user's sense of…
With the rapid advancement of virtual reality (VR) technology, its adoption across domains such as healthcare, education, and entertainment has grown significantly. However, the persistent issue of cybersickness, marked by symptoms…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Navigation aids are central to immersive virtual reality (VR) experiences that involve physical locomotion. Their effectiveness depends not only on how much spatial information they provide, but also on how directly that information…
Recent research proposed gaze-assisted gestures to enhance interaction within virtual reality (VR), providing opportunities for people with motor impairments to experience VR. Compared to people with other motor impairments, those with…
Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…
Numerous accessibility features have been developed and included in consumer operating systems to provide people with a variety of disabilities additional ways to access computing devices. Unfortunately, many users, especially older adults…
Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring…
Virtual Reality (VR) is an emerging technique that provides a unique real-time experience for users. VR technologies have provided revolutionary user experiences in various scenarios (e.g., training, education, product/architecture design,…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…