相关论文: CoVR: A Large-Scale Force-Feedback Robotic Interfa…

RoomShift is a room-scale dynamic haptic environment for virtual reality, using a small swarm of robots that can move furniture. RoomShift consists of nine shape-changing robots: Roombas with mechanical scissor lifts. These robots drive…

Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…

We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that…

Creating physically realistic content in VR often requires complex modeling tools or predefined 3D models, textures, and animations, which present significant barriers for non-expert users. In this paper, we propose SketchPlay, a novel VR…

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…

The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material handling in warehouses. To robustly manipulate heavy objects…

Social VR enables people to interact over distance with others in real-time. It allows remote people, typically represented as avatars, to communicate and perform activities together in a join shared virtual environment, extending the…

General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning (RL) has shown great potential in solving robot manipulation…

Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback…

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…

In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…

We present Virtual Elastic Objects (VEOs): virtual objects that not only look like their real-world counterparts but also behave like them, even when subject to novel interactions. Achieving this presents multiple challenges: not only do…

Generating free-viewpoint videos is critical for immersive VR/AR experience but recent neural advances still lack the editing ability to manipulate the visual perception for large dynamic scenes. To fill this gap, in this paper we propose…

The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…

Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

Photorealistic telepresence requires both high-fidelity body modeling and faithful driving to enable dynamically synthesized appearance that is indistinguishable from reality. In this work, we propose an end-to-end framework that addresses…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on…

Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…