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Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…

A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…

Egocentric perception on smart glasses could transform how we learn new skills in the physical world, but automatic skill assessment remains a fundamental technical challenge. We introduce SkillSight for power-efficient skill assessment…

We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as a filtering criterion that instantaneously assesses the…

Developing agents capable of fluid gameplay in first/third-person games without API access remains a critical challenge in Artificial General Intelligence (AGI). Recent efforts leverage Vision Language Models (VLMs) as direct controllers,…

Reinforcement learning has enabled agents to solve challenging tasks in unknown environments. However, manually crafting reward functions can be time consuming, expensive, and error prone to human error. Competing objectives have been…

The video game industry is larger than both the film and music industries combined. Recommender systems for video games have received relatively scant academic attention, despite the uniqueness of the medium and its data. In this paper, we…

In projectors and head-mounted displays, an out-of-focus image appears blurred. Even when a display itself is in focus, computer operation may be hindered if the display is far from the user or if a user has poor visual acuity, because the…

We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…

As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for…

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…

Neuroadaptive haptics offers a path to more immersive extended reality (XR) experiences by dynamically tuning multisensory feedback to user preferences. We present a neuroadaptive haptics system that adapts XR feedback through reinforcement…

Accurate rotational odometry is crucial for autonomous robotic systems, particularly for small, power-constrained platforms such as drones and mobile robots. This study introduces thermal-gyro fusion, a novel sensor fusion approach that…

Since the launch of Google Glass in 2014, smart glasses have mainly been designed to support micro-interactions. The ultimate goal for them to become an augmented reality interface has not yet been attained due to an encumbrance of…

In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…

Advances in deep reinforcement learning have allowed autonomous agents to perform well on Atari games, often outperforming humans, using only raw pixels to make their decisions. However, most of these games take place in 2D environments…

Variable frame timing (VFT), or changes in the time intervals between discrete frame images displayed to users, deviates from our traditional conceptualization of frame rate in which all frame times are equal. With the advent of variable…

In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…

Adaptive game systems aim to enrich player experiences by dynamically adjusting game content in response to user data. While extensive research has addressed content personalization and player experience modeling, the integration of these…

Strong gravitational lensing is a powerful probe of cosmology and the dark matter distribution. Efficient lensing software is already a necessity to fully use its potential and the performance demands will only increase with the upcoming…