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As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
In this article, we report on the design and evaluation of an external human-machine interface (eHMI) for a real autonomous vehicle (AV), developed to operate as a shared transport pod in a pedestrianized urban space. We present insights…
3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
In this paper we examine methods for taking game-related information provided in one sensory modality and transforming it to another sensor modality in order to more effectively accommodate sensory-constrained players. We then consider…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Keypoint-based representation has proven advantageous in various visual and robotic tasks. However, the existing 2D and 3D methods for detecting keypoints mainly rely on geometric consistency to achieve spatial alignment, neglecting…
Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
In this paper, we present a low-cost virtual reality (VR) collaborative system equipped with a haptic feedback sensation system. This system is composed of a Kinect sensor for bodies and gestures detection, a microcontroller and vibrators…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Mobile exploration is a longstanding challenge in robotics, yet current methods primarily focus on active perception instead of active interaction, limiting the robot's ability to interact with and fully explore its environment. Existing…
Interaction with the physical environment and different users is essential to foster a collaborative experience. For this, we propose an interaction based on a central point represented by an Augmented Reality marker in which several users…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Interacting with an in-vehicle system through a central console is known to induce visual and biomechanical distractions, thereby delaying the danger recognition and response times of the driver and significantly increasing the risk of an…
This work evaluates three 3D user interaction techniques to investigate their visuo-spatial working memory support for users' data exploration in immersive analytics. Two techniques are the common VR locomotion technique, Walking and…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Immersive technologies offer new opportunities to support collaborative visual data analysis by providing each collaborator a personal, high-resolution view of a flexible shared visualisation space through a head mounted display. However,…