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

While augmented reality (AR) research demonstrates benefits of embedded visualizations for gross motor training, its applicability to facial exercises remains under-explored. Providing effective real-time feedback for facial muscle training…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…

In this paper, we investigate the utility of datasets and whether more data or the 'right' data is advantageous for robot learning. In particular, we are interested on quantifying the utility of contact-based data as contact holds…

The adoption of Reinforcement Learning (RL) in several human-centred applications provides robots with autonomous decision-making capabilities and adaptability based on the observations of the operating environment. In such scenarios,…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

The correct specification of reward models is a well-known challenge in reinforcement learning. Hand-crafted reward functions often lead to inefficient or suboptimal policies and may not be aligned with user values. Reinforcement learning…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

The rapid development of generative artificial intelligence (AI) and large language models (LLMs), and the availability of services that make them accessible, have led the general public to begin incorporating them into everyday life. The…

Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…

In this work, we investigate how implicit neural feed back can accelerate reinforcement learning in complex robotic manipulation settings. While prior electroencephalogram (EEG) guided reinforcement learning studies have primarily focused…

We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

By converting the entire 3D space around the user into a screen, Extended Reality (XR) can ameliorate traditional displays' space limitations and facilitate the consumption of multiple pieces of information at a time. However, if designed…

Trust in robots is widely believed to be imperative for the adoption of robots into people's daily lives. It is, therefore, understandable that the literature of the last few decades focuses on measuring how much people trust robots -- and…

Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…