相关论文: Immersive Human-in-the-Loop Control: Real-Time 3D …

Modeling 3D human-object interaction (HOI) is a problem of great interest for computer vision and a key enabler for virtual and mixed-reality applications. Existing methods work in a one-way direction: some recover plausible human…

We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…

In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…

We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular…

Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially…

Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…

To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…

Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…

Creating virtual humans with embodied, human-like perceptual and actuation constraints has the promise to provide an integrated simulation platform for many scientific and engineering applications. We present Dynamic and Autonomous…

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

In recent years, Virtual Reality (VR) Head-Mounted Displays (HMD) have been used to provide an immersive, first-person view in real-time for the remote-control of Unmanned Ground Vehicles (UGV). One critical issue is that it is challenging…

Operating a multi-robot fleet for simultaneous localization and mapping (SLAM) in applications such as building inspection or warehouse-aisle monitoring requires the operator to maintain spatial awareness of each robot's position and…

In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…

TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch…

Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…

Reliable humanoid-robot interaction (HRI) in household environments is constrained by two fundamental requirements, namely robustness to unconstrained user positions and preservation of user privacy. Millimeter-wave (mmWave) sensing…