Related papers: Embodied Human Simulation for Quantitative Design …
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Scientific experimentation and manufacturing rely on prolonged protocol development and complex, multi-step implementation, which require continuous human expertise for precise execution and decision-making, limiting interpretability and…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Computational models of how users perceive and act within a virtual or physical environment offer enormous potential for the understanding and design of user interactions. Cognition models have been used to understand the role of attention…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However,…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Recent advances in large-scale video world models have enabled increasingly realistic future prediction, raising the prospect of using generated videos as scalable supervision for robot learning. However, for embodied manipulation,…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Progress in embodied intelligence increasingly depends on scalable data infrastructure. While vision and language have scaled with internet corpora, learning physical interaction remains constrained by the lack of large, diverse, and richly…
Virtual human simulation integrated into virtual reality applications is mainly used for virtual representation of the user in virtual environment or for interactions between the user and the virtual avatar for cognitive tasks. In this…
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…