相关论文: Toward a Predictive eXtended Reality Teleoperation…
Adaptive and intelligent user interfaces have been proposed as a critical component of a successful extended reality (XR) system. In particular, a predictive system can make inferences about a user and provide them with task-relevant…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
This work explores how force feedback affects various aspects of robot data collection within the Extended Reality (XR) setting. Force feedback has been proved to enhance the user experience in Extended Reality (XR) by providing…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
As immersive eXtended Reality (XR) applications demand substantial network resources, understanding their interaction with 5G networks becomes crucial to improve them. This paper investigates the role of 5G physical-layer monitoring to…
This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a…
Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual…
We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
Extended reality (XR) technologies-encompassing virtual reality (VR), augmented reality (AR), and mixed reality (MR) are transforming cognitive assessment and training by offering immersive, interactive environments that simulate real-world…
Precise temporal and spatial alignment is critical in collaborative Augmented Reality (AR) where users rely on shared visual information to coordinate actions. System latency and object misalignment can disrupt communication, reduce task…
Extended reality (XR) devices have become ubiquitous. They are equipped with arrays of sensors, collecting extensive user and environmental data, allowing inferences about sensitive user information users may not realize they are sharing.…
We study the choice of action space in robot manipulation learning and sim-to-real transfer. We define metrics that assess the performance, and examine the emerging properties in the different action spaces. We train over 250 reinforcement…
Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…
Fiber-To-The-Room is a potential solution to achieve in-premise extended reality collaborations. This paper explores predictive bandwidth allocation and seamless handover schemes over FTTR, showing high-quality immersive experience for…