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Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets. However, challenges remain in applying these models to 3D spatial interactions and managing data collection costs. To address…
Camera control, which achieves diverse visual effects by changing camera position and pose, has attracted widespread attention. However, existing methods face challenges such as complex interaction and limited control capabilities. To…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible,…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Large Multimodal Models (LMMs) have shown strong potential for assisting users in tasks, such as programming, content creation, and information access, yet their interaction remains largely limited to traditional interfaces such as desktops…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Recent advancements in audio-video joint generation models have demonstrated impressive capabilities in content creation. However, generating high-fidelity human-centric videos in complex, real-world physical scenes remains a significant…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
In this paper, we introduce OmniHands, a universal approach to recovering interactive hand meshes and their relative movement from monocular or multi-view inputs. Our approach addresses two major limitations of previous methods: lacking a…