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We introduce a Virtual Reality (VR) one-on-one tutoring system to support anatomy education. A student uses a fully immersive VR headset to explore the anatomy of the base of the human skull. A teacher guides the student by using the…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Pre-trained robot policies serve as the foundation of many validated robotic systems, which encapsulate extensive embodied knowledge. However, they often lack the semantic awareness characteristic of foundation models, and replacing them…
We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a task function, which is learned using inverse reinforcement…
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…
Training helps to maintain and improve sufficient muscle function, body control, and body coordination. These are important to reduce the risk of fracture incidents caused by falls, especially for the elderly or people recovering from…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Online reinforcement learning (RL) with sparse rewards poses a challenge partly because of the lack of feedback on states leading to the goal. Furthermore, expert offline data with reward signal is rarely available to provide this feedback…
Vision plays a crucial role in comprehending the world around us. More than 85% of the external information is obtained through the vision system. It influences our mobility, cognition, information access, and interaction with the…
Human behavior is fundamentally shaped by visual perception -- our ability to interact with the world depends on actively gathering relevant information and adapting our movements accordingly. Behaviors like searching for objects, reaching,…
Voice recognition technology enables the execution of real-world operations through a single voice command. This paper introduces a voice recognition system that involves converting input voice signals into corresponding text using an…
The automatic extraction of animal \reb{3D} pose from images without markers is of interest in a range of scientific fields. Most work to date predicts animal pose from RGB images, based on 2D labelling of joint positions. However, due to…
Realistic Hand manipulation is a key component of immersive virtual reality (VR), yet existing methods often rely on kinematic approach or motion-capture datasets that omit crucial physical attributes such as contact forces and finger…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed and some are widely used in surgical training simulators.…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…