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We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
We introduce to VR a novel imperceptible gaze guidance technique from a recent discovery that human gaze can be attracted to a cue that contrasts from the background in its perceptually non-distinctive ocularity, defined as the relative…
Virtual Reality (VR) has made significant strides, offering users a multitude of ways to interact with virtual environments. Each sensory modality in VR provides distinct inputs and interactions, enhancing the user's immersion and presence.…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
The paper introduces Hands-Free VR, a voice-based natural-language interface for VR. The user gives a command using their voice, the speech audio data is converted to text using a speech-to-text deep learning model that is fine-tuned for…
This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…
Fervent calls for more robust governance of the harms associated with artificial intelligence (AI) are leading to the adoption around the world of what regulatory scholars have called a management-based approach to regulation. Recent…
This demo introduces Focus360, a system designed to enhance user engagement in 360{\deg} VR videos by guiding attention to key elements within the scene. Using natural language descriptions, the system identifies important elements and…
This paper presents AI Guide Dog (AIGD), a lightweight egocentric (first-person) navigation system for visually impaired users, designed for real-time deployment on smartphones. AIGD employs a vision-only multi-label classification approach…
Dog guides offer an effective mobility solution for blind or visually impaired (BVI) individuals, but conventional dog guides have limitations including the need for care, potential distractions, societal prejudice, high costs, and limited…
The current apprenticeship model for surgical training requires a high level of supervision, which does not scale well to meet the growing need for more surgeons. Many endoscopic procedures are directly taught in the operating room (OR)…
In the context of fitness coaching or for rehabilitation purposes, the motor actions of a human participant must be observed and analyzed for errors in order to provide effective feedback. This task is normally carried out by human coaches,…
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…
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…
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…