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Recent advancements in legged robot locomotion have facilitated traversal over increasingly complex terrains. Despite this progress, many existing approaches rely on end-to-end deep reinforcement learning (DRL), which poses limitations in…
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…
Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…
Teleportation is one of the most common locomotion techniques in virtual reality, yet its perceptual properties remain underexplored. While redirected walking research has shown that users' movements can be subtly manipulated without…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
A survey is presented focused on using pose estimation techniques in Emotional recognition using various technologies normal cameras, and depth cameras for real-time, and the potential use of VR and inputs including images, videos, and…
Virtual Reality (VR) enables users to engage with capabilities beyond human limitations, but it is not always obvious how to trigger these capabilities. Taking the lens of Affordance, we believe avatar design is the key to solving this…
As XR devices become widespread, 3D interaction has become commonplace, and UI developers are increasingly required to consider usability to deliver better user experiences. The HCI community has long studied target-pointing performance,…
Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…
Rehabilitation therapies are widely employed to assist people with motor impairments in regaining control over their affected body parts. Nevertheless, factors such as fatigue and low self-efficacy can hinder patient compliance during…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Virtual Reality (VR) users often encounter postural instability, i.e., balance issues, which can be a significant impediment to universal usability and accessibility, particularly for those with balance impairments. Prior research has…
Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…
Current Virtual Reality (VR) input devices make it possible to navigate a virtual environment and record immersive, personalized data regarding the user's movement and specific behavioral habits, which brings the question of the user's…
The increase in the demand for eXtended Reality (XR)/Virtual Reality (VR) services in the recent years, poses a great challenge for Wi-Fi networks to maintain the strict latency requirements. In VR over Wi-Fi, latency is a significant…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…