Related papers: Perceptually-Guided Adjusted Teleporting: Perceptu…
People who are blind perceive the world differently than those who are sighted, which can result in distinct motion characteristics. For instance, when crossing at an intersection, blind individuals may have different patterns of movement,…
Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…
There are over a hundred virtual reality (VR) locomotion techniques that exist today, with new ones being designed as VR technology evolves. The different ways of controlling locomotion techniques (e.g., gestures, button inputs, body…
Virtual locomotion technique (VLT) is a fundamental component of virtual reality (VR) systems that translates physical and controller inputs into virtual translational movements and viewpoint transitions. Poorly designed VLTs can result in…
Accurate human trajectory prediction is crucial for applications such as autonomous vehicles, robotics, and surveillance systems. Yet, existing models often fail to fully leverage the non-verbal social cues human subconsciously communicate…
We study level set teleportation, an optimization routine which tries to accelerate gradient descent (GD) by maximizing the gradient norm over a level set of the objective. While teleportation intuitively speeds-up GD via bigger steps,…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Wearable augmented reality (AR) represents the next interface to all things computing, extending what smartphones and laptops can do. This involves providing access to digital information during activities like walking or jogging. In this…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Existing gradient-based optimization methods update parameters locally, in a direction that minimizes the loss function. We study a different approach, symmetry teleportation, that allows parameters to travel a large distance on the loss…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Optimization techniques have become increasingly critical due to the ever-growing model complexity and data scale. In particular, teleportation has emerged as a promising approach, which accelerates convergence of gradient descent-based…
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…
Assessing the performance of human movements during teleoperation and virtual reality is a challenging problem, particularly in 3D space due to complex spatial settings. Despite the presence of a multitude of metrics, a compelling…
Many tasks in computer vision are often calibrated and evaluated relative to human perception. In this paper, we propose to directly approximate the perceptual function performed by human observers completing a visual detection task.…
Pre-captured immersive environments using omnidirectional cameras provide a wide range of virtual reality applications. Previous research has shown that manipulating the eye height in egocentric virtual environments can significantly affect…
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communication on where and when physical contact (object transfer)…
Redirected walking is a Virtual Reality(VR) locomotion technique which enables users to navigate virtual environments (VEs) that are spatially larger than the available physical tracked space. In this work we present a novel technique for…