Related papers: Leveraging Head Movement for Navigating Off-Screen…
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in a view-specific manner, leading to…
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360{\deg}. However, prior approaches to visual search are limited to a static image, neglecting the physical…
Head tracking in head-mounted displays (HMDs) enables users to explore a 360-degree virtual scene with free head movements. However, for seated use of HMDs such as users sitting on a chair or a couch, physically turning around 360-degree is…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
This paper introduces a novel interaction method for virtual and augmented reality called look-and-twist, which is directly analogous to point-and-click operations using a mouse and desktop. It is based on head rotation alone and is…
Ultra-high-resolution 360-degree video streaming is severely constrained by the massive bandwidth required to deliver immersive experiences. Current viewport prediction techniques predominately rely on kinematics or low-level visual…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…
Real-time perception on edge platforms faces a core challenge: executing high-resolution object detection under stringent latency constraints on limited computing resources. Canvas-based attention scheduling was proposed in earlier work as…
In automotive domain, operation of secondary tasks like accessing infotainment system, adjusting air conditioning vents, and side mirrors distract drivers from driving. Though existing modalities like gesture and speech recognition systems…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Accurately drawing non-planar 3D curves in immersive Virtual Reality (VR) is indispensable for many precise 3D tasks. However, due to lack of physical support, limited depth perception, and the non-planar nature of 3D curves, it is…
Visualizing spatial data on small-screen devices such as smartphones and smartwatches poses new challenges in computational cartography. The current interfaces for map exploration require their users to zoom in and out frequently. Indeed,…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Recent diffusion-based generators can produce high-quality images from textual prompts. However, they often disregard textual instructions that specify the spatial layout of the composition. We propose a simple approach that achieves robust…
For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…
Previous work has demonstrated the utility of reductions in the level of detail (LOD) in the periphery of head-tracked, large field of view displays. This paper provides a psychophysically based model, centered around an eye/head movement…
Sophisticated multilayer neural networks have achieved state of the art results on multiple supervised tasks. However, successful applications of such multilayer networks to control have so far been limited largely to the perception portion…
As head-mounted displays (HMDs) with eye-tracking become increasingly accessible, the need for effective gaze-based interfaces in virtual reality (VR) grows. Traditional gaze- or hand-based navigation often limits user precision or impairs…