相关论文: Beyond Visuals: Investigating Force Feedback in Ex…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…

Retargeting methods that modify the visual representation of real movements have been widely used to expand the interaction space and create engaging virtual reality experiences. For optimal user experience and performance, it is essential…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

When manipulating objects in the real world, we need reactive feedback policies that take into account sensor information to inform decisions. This study aims to determine how different encoders can be used in a reinforcement learning (RL)…

Virtual reality has been effectively used for eliciting emotions, yet most research focuses on the intensity of affective responses rather than on how interaction influences those experiences. To address this gap, we advance a validated VR…

Virtual reality (VR) has been increasingly utilised as a simulation tool for human-robot interaction (HRI) studies due to its ability to facilitate fast and flexible prototyping. Despite efforts to achieve high validity in VR studies,…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

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…

In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot…

Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…

Haptics in virtual reality is the emerging dimension after audiovisual experiences. Researchers designed several handheld VR controllers to simulate haptic experiences in virtual reality environments. Some of these devices, equipped to…

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.…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Recent advances in extended reality (XR) technologies have enabled new and increasingly realistic empathy tools and experiences. In XR, all interactions take place in different spatial contexts, all with different features, affordances, and…

As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…

Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

This paper introduces the notion of affective extended reality (XR) to characterise XR systems that use biodata to enable understanding of emotions. The HCI literature contains many such systems, but they have not yet been mapped into a…

Over the past decade, extended reality (XR) has emerged as an assistive technology not only to augment residual vision of people losing their sight but also to study the rudimentary vision restored to blind people by a visual…