相关论文: AR Point&Click: An Interface for Setting Robot Nav…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
Head-worn augmented reality (AR) is a hotly pursued and increasingly feasible contender paradigm for replacing or complementing smartphones and watches for continual information consumption. Here, we compare three different AR navigation…
Augmented reality (AR) offers promising opportunities to support movement-based activities, such as personal training or physical therapy, with real-time, spatially-situated visual cues. While many approaches leverage AR to guide motion,…
A long-term goal of artificial intelligence is to have an agent execute commands communicated through natural language. In many cases the commands are grounded in a visual environment shared by the human who gives the command and the agent.…
Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
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…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…
In recent years, we have seen significant steps taken in the development of self-driving cars. Multiple companies are starting to roll out impressive systems that work in a variety of settings. These systems can sometimes give the…
Object locating in virtual reality (VR) has been widely used in many VR applications, such as virtual assembly, virtual repair, virtual remote coaching. However, when there are a large number of objects in the virtual environment(VE), the…
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…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…