Related papers: Rewiring Perceived Doability in VR: Hand Redirecti…
This work presents a reinforcement learning-based switching control mechanism to autonomously move a ferromagnetic object (representing a milliscale robot) around obstacles within a constrained environment in the presence of disturbances.…
The incorporation of empathic systems in everyday life draws a lot of attention from society. Specifically, the use of wearables to perform stress regulation is a growing field of research. Among techniques explored, the haptic emulation of…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
Current AI advances largely rely on scaling neural models and expanding training datasets to achieve generalization and robustness. Despite notable successes, this paradigm incurs significant environmental, economic, and ethical costs,…
Redirected walking utilizes gain adjustments within perceptual thresholds to allow natural navigation in large scale virtual environments within confined physical environments. Previous research has found that when users are distracted by…
Neurodivergent individuals, particularly those with Autism and Attention Deficit Hyperactivity Disorder (ADHD), frequently experience anxiety, panic attacks, meltdowns, and emotional dysregulation due to societal pressures and inadequate…
Training reinforcement learning agents at solving a given task is highly dependent on identifying optimal sets of hyperparameters and selecting suitable environment input / output configurations. This tedious process could be eased with a…
With the rising interest in Virtual Reality and the fast development and improvement of available devices, new features of interactions are becoming available. One of them that is becoming very popular is hand tracking, as the idea to…
Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
We provide a framework for accelerating reinforcement learning (RL) algorithms by heuristics constructed from domain knowledge or offline data. Tabula rasa RL algorithms require environment interactions or computation that scales with the…
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Virtual reality (VR) has been increasingly utilised as a simulation tool for human-robot interaction (HRI) studies due to its ability to facilitate fast and flexible prototyping. Despite efforts to achieve high validity in VR studies,…
This research aims to examine the effects of various vibrotactile feedback techniques on gait (i.e., walking patterns) in virtual reality (VR). Prior studies have demonstrated that gait disturbances in VR users are significant usability…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…
Dynamic in air handover is a fundamental challenge for dual-arm robots, requiring accurate perception, precise coordination, and natural motion. Prior methods often rely on dynamics models, strong priors, or depth sensing, limiting…
In contemporary training for industrial manufacturing, reconciling theoretical knowledge with practical experience continues to be a significant difficulty. As companies transition to more intricate and technology-oriented settings,…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…