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Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
In high-end visual effects pipelines, a customized (and expensive) light stage system is (typically) used to scan an actor in order to acquire both geometry and texture for various expressions. Aiming towards democratization, we propose a…
There is a growing demand for the accessible creation of high-quality 3D avatars that are animatable and customizable. Although 3D morphable models provide intuitive control for editing and animation, and robustness for single-view face…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a collaborator, thus leaving a certain gap…
The increase in available computing power and the Deep Learning revolution have allowed the exploration of new topics and frontiers in Artificial Intelligence research. A new field called Embodied Artificial Intelligence, which places at…
As the demand for artificial intelligence (AI) grows to address complex real-world tasks, single models are often insufficient, requiring the integration of multiple models into pipelines. This paper introduces Bel Esprit, a conversational…
Every robot built to date was predesigned by an external process, prior to deployment. Here we show a robot that actively participates in its own design during its lifetime. Starting from a randomly assembled body, and using only…
Embodied computer vision considers perception for robots in novel, unstructured environments. Of particular importance is the embodied visual exploration problem: how might a robot equipped with a camera scope out a new environment? Despite…
Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…
High-quality visualizations are an essential part of robotics research, enabling clear communication of results through figures, animations, and demonstration videos. While Blender is a powerful and freely available 3D graphics platform,…
Given a simple request like Put a washed apple in the kitchen fridge, humans can reason in purely abstract terms by imagining action sequences and scoring their likelihood of success, prototypicality, and efficiency, all without moving a…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
Walking in a Virtual Environment is a bounded task. It is challenging for a subject to navigate a large virtual environment designed in a limited physical space. External hardware support may be required to achieve such an act in a concise…
Mixed reality platforms allow users to create virtual environments, yet novice users struggle with both ideation and execution in spatial design. While existing AI models can automatically generate scenes based on user prompts, the lack of…
The research field of Embodied AI has witnessed substantial progress in visual navigation and exploration thanks to powerful simulating platforms and the availability of 3D data of indoor and photorealistic environments. These two factors…
Generative AI has made rapid progress in text, image, and video synthesis, yet text-to-3D modeling for scientific design remains particularly challenging due to limited controllability and high computational cost. Most existing 3D…
Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient…
Automating a factory where robots are involved is neither trivial nor cheap. Engineering the factory automation process in such a way that return of interest is maximized and risk for workers and equipment is minimized, is hence of…