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Vision-Language-Action models have achieved remarkable progress in robotic manipulation, yet they suffer from a critical limitation: a lack of 3D scene understanding. This deficiency manifests as three intertwined challenges: weak…
Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly…
Recently, very high-dimensional feature representations, e.g., Fisher Vector, have achieved excellent performance for visual recognition and retrieval. However, these lengthy representations always cause extremely heavy computational and…
Virtual reality (VR) offers immersive visualization and intuitive interaction. We leverage VR to enable any biomedical professional to deploy a deep learning (DL) model for image classification. While DL models can be powerful tools for…
Alloy is a lightweight formal specification language, supported by an IDE, which has proven well-suited for reasoning about software design in early development stages. The IDE provides a visualizer that produces graphical representations…
We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
Reinforcement learning from pixels is often bottlenecked by the performance and complexity of 3D rendered environments. Researchers face a trade-off between high-speed, low-level engines and slower, more accessible Python frameworks. To…
Lens visualization has been a prominent research area in the visualization community, fueled by the continuous need to mitigate visual clutter and occlusion resulting from the increase in data volume. Interactive lenses for spatial data,…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Large language models (LLMs) are becoming central to natural language processing education, yet materials showing their mechanics are sparse. We present AnimatedLLM, an interactive web application that provides step-by-step visualizations…
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…
Trajectory visualization and animation play critical roles in robotics research. However, existing data visualization and animation tools often lack flexibility, scalability, and versatility, resulting in limited capability to fully explore…
Block-based environments are visual programming environments, which are becoming more and more popular because of their ease of use. The ease of use comes thanks to their intuitive graphical representation and structural metaphors…
In this paper, we present pomdp_py, a general purpose Partially Observable Markov Decision Process (POMDP) library written in Python and Cython. Existing POMDP libraries often hinder accessibility and efficient prototyping due to the…
We introduce \texttt{pycobra}, a Python library devoted to ensemble learning (regression and classification) and visualisation. Its main assets are the implementation of several ensemble learning algorithms, a flexible and generic interface…
Representing source code in a generic input format is crucial to automate software engineering tasks, e.g., applying machine learning algorithms to extract information. Visualizing code representations can further enable human experts to…
Accessing 3D models remains challenging for Screen Reader (SR) users. While some existing 3D viewers allow creators to provide alternative text, they often lack sufficient detail about the 3D models. Grounded on a formative study, this…
The increasing affordability of robot hardware is accelerating the integration of robots into everyday activities. However, training a robot to automate a task requires expensive trajectory data where a trained human annotator moves a…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…