相关论文: Embodied Supervision: Haptic Display of Automation…
Intuitive control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time performance, but it is difficult to label hand kinematics…
Nowadays, touch remains essential for emotional conveyance and interpersonal communication as more interactions are mediated remotely. While many studies have discussed the effectiveness of using haptics to communicate emotions,…
Existing self-supervised 3D human pose estimation schemes have largely relied on weak supervisions like consistency loss to guide the learning, which, inevitably, leads to inferior results in real-world scenarios with unseen poses. In this…
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…
We study how the choice of visual perspective affects learning and generalization in the context of physical manipulation from raw sensor observations. Compared with the more commonly used global third-person perspective, a hand-centric…
Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…
Simulator training for image guided surgical interventions would benefit from intelligent systems that detect the evolution of task performance, and take control of individual speed precision strategies by providing effective automatic…
Dynamic data visualizations can convey large amounts of information over time, such as using motion to depict changes in data values for multiple entities. Such dynamic displays put a demand on our visual processing capacities, yet our…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…
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…
An interactive instruction following task has been proposed as a benchmark for learning to map natural language instructions and first-person vision into sequences of actions to interact with objects in 3D environments. We found that an…
Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective…
Self-paced learning has been beneficial for tasks where some initial knowledge is available, such as weakly supervised learning and domain adaptation, to select and order the training sample sequence, from easy to complex. However its…
Human eye-hand coordination relies on internal forward models that predict future states and compensate for sensory delays. During line tracing, the gaze typically leads the hand through predictive saccades, yet the extent to which this…
Background: The speed and precision with which objects are moved by hand or hand-tool interaction under image guidance depend on a specific type of visual and spatial sensorimotor learning. Novices have to learn to optimally control what…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
For groups of autonomous agents to achieve a particular goal, they must engage in coordination and long-horizon reasoning. However, designing reward functions to elicit such behavior is challenging. In this paper, we study how…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
As digital worlds become ubiquitous via video games, simulations, virtual and augmented reality, people with disabilities who cannot access those worlds are becoming increasingly disenfranchised. More often than not the design of these…