相关论文: Preference Between Allocentric and Egocentric 3D M…
We study whether language models (LMs) exhibit future- versus present-oriented preferences in intertemporal choice and whether those preferences can be systematically manipulated. Using adapted human experimental protocols, we evaluate…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…
Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in…
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…
Roboticists often design with the assumption that assistive robots should be fully autonomous. However, it remains unclear whether users prefer highly autonomous robots, as prior work in assistive robotics suggests otherwise. High robot…
3D hand pose estimation in everyday egocentric images is challenging for several reasons: poor visual signal (occlusion from the object of interaction, low resolution & motion blur), large perspective distortion (hands are close to the…
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of…
Egocentric vision captures the scene from the point of view of the camera wearer, while exocentric vision captures the overall scene context. Jointly modeling ego and exo views is crucial to developing next-generation AI agents. The…
Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions…
Egocentric 3D human pose estimation has been actively studied using cameras installed in front of a head-mounted device (HMD). While frontal placement is the optimal and the only option for some tasks, such as hand tracking, it remains…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
Humans have an innate ability to sense their surroundings, as they can extract the spatial representation from the egocentric perception and form an allocentric semantic map via spatial transformation and memory updating. However, endowing…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
Research on mobile collocated interactions has been exploring situations where collocated users engage in collaborative activities using their personal mobile devices (e.g., smartphones and tablets), thus going from personal/individual…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
The movement of a user's face, easily detected by a smartphone's front camera, is an underexploited input modality for mobile interactions. We introduce three sets of face-engaged interaction techniques for augmenting the traditional mobile…
Wearable egocentric cameras and machine learning have the potential to provide clinicians with a more nuanced understanding of patient hand use at home after stroke and spinal cord injury (SCI). However, they require detailed contextual…
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in…