Related papers: AirGlove: Exploring Egocentric 3D Hand Tracking an…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…

Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

How to enable agents to predict the outcomes of their own motion intentions in three-dimensional space has been a fundamental problem in embodied intelligence. To explore general spatial imagination capability, we present AirScape, the…

Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is often sufficient for the task at hand in biomedical settings…

Interactive evolution has shown the potential to create amazing and complex forms in both 2-D and 3-D settings. However, the algorithm is slow and users quickly become fatigued. We propose that the use of eye tracking for interactive…

Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…

Providing users with accurate gestural interfaces, such as gesture recognition based on wrist-worn devices, is a key challenge in mixed reality. However, static machine learning processes in gesture recognition assume that training and test…

We address the challenge of unsupervised mistake detection in egocentric video of skilled human activities through the analysis of gaze signals. While traditional methods rely on manually labeled mistakes, our approach does not require…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…

This paper proposes a novel method for human hands tracking using data from an event camera. The event camera detects changes in brightness, measuring motion, with low latency, no motion blur, low power consumption and high dynamic range.…

This paper presents Glove2UAV, a wearable IMU-glove interface for intuitive UAV control through hand and finger gestures, augmented with vibrotactile warnings for exceeding predefined speed thresholds. To promote safer and more predictable…