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We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand…

In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

With the rise in sedentary behavior, health problems caused by poor sitting posture have drawn increasing attention. Most existing methods, whether using invasive sensors or computer vision, rely on two-stage pipelines, which result in high…

Despite the importance of having a measure of confidence in recommendation results, it has been surprisingly overlooked in the literature compared to the accuracy of the recommendation. In this dissertation, I propose a model calibration…

Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…

Computer Vision developments are enabling significant advances in many fields, including sports. Many applications built on top of Computer Vision technologies, such as tracking data, are nowadays essential for every top-level analyst,…

The task of learning the piano has been a centuries-old challenge for novices, experts and technologists. Several innovations have been introduced to support proper posture, movement, and motivation, while sight-reading and improvisation…

In this paper we consider the problem of human pose estimation in real-world videos of swimmers. Swimming channels allow filming swimmers simultaneously above and below the water surface with a single stationary camera. These recordings can…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Human maintain their body balance by sensorimotor controls mainly based on information gathered from vision, proprioception and vestibular systems. When there is a lack of information, caused by pathologies, diseases or aging, the subject…

Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…

Human poses and motions are important cues for analysis of videos with people and there is strong evidence that representations based on body pose are highly effective for a variety of tasks such as activity recognition, content retrieval…

The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Artificial Intelligence Virtual Cells (AIVCs) aim to learn executable, decision-relevant models of cell state from multimodal, multiscale measurements. Recent studies have introduced single-cell and spatial foundation models, improved…

This exploratory field study investigates the integration of innovative forms of recitation tasks in a first-year introductory mechanics course, focusing on smartphone-based experimental tasks alongside programming and standard recitation…

Understanding the camera wearer's activity is central to egocentric vision, yet one key facet of that activity is inherently invisible to the camera--the wearer's body pose. Prior work focuses on estimating the pose of hands and arms when…

For building a Augmented Reality (AR) pipeline, the most crucial step is the camera calibration as overall quality heavily depends on it. In turn camera calibration itself is influenced most by the choice of camera-to-pattern poses - yet…