Related papers: Augmented Assembly: Object Recognition and Hand Tr…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
As cameras and computers became popular, the applications of computer vision techniques attracted attention enormously. One of the most important applications in the computer vision community is human activity recognition. In order to…
It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…
In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human…
Augmented reality (AR) allows virtual information to be presented in the real world, providing support for numerous tasks including search and navigation. Allowing users access to multiple navigation aids may help leverage the benefits of…
In this work we propose a learning approach to high-precision robotic assembly problems. We focus on the contact-rich phase, where the assembly pieces are in close contact with each other. Unlike many learning-based approaches that heavily…
Instruction-based object addition is often hindered by the ambiguity of text-only prompts or the tedious nature of mask-based inputs. To address this usability gap, we introduce AbracADDbra, a user-friendly framework that leverages…
Online shopping gives customers boundless options to choose from, backed by extensive product details and customer reviews, all from the comfort of home; yet, no amount of detailed, online information can outweigh the instant gratification…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
In this paper we address the task of recognizing assembly actions as a structure (e.g. a piece of furniture or a toy block tower) is built up from a set of primitive objects. Recognizing the full range of assembly actions requires…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Augmented Reality (AR) systems describe the class of systems that use computers to overlay virtual information on the real world. AR environments allow the development of promising tools in several application domains. In medical training…
AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…
This paper presents the development of a multi-sensor user interface to facilitate the instruction of arc welding tasks. Traditional methods to acquire hand-eye coordination skills are typically conducted through one-to-one instruction…
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
Assembly sequence planning (ASP) is the essential process for modern manufacturing, proven to be NP-complete thus its effective and efficient solution has been a challenge for researchers in the field. In this paper, we present a…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…