相关论文: Investigating Resolution Strategies for Workspace-…

Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…

Augmented Reality (AR) is transforming the way we interact with virtual information in the physical world. By overlaying digital content in real-world environments, AR enables new forms of immersive and engaging experiences. However,…

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…

This paper introduces a novel interaction method for virtual and augmented reality called look-and-twist, which is directly analogous to point-and-click operations using a mouse and desktop. It is based on head rotation alone and is…

The human visual system uses numerous cues for depth perception, including disparity, accommodation, motion parallax and occlusion. It is incumbent upon virtual-reality displays to satisfy these cues to provide an immersive user experience.…

We present a comprehensive survey of perception-based redirected walking (RDW) techniques in virtual reality (VR), presenting a taxonomy that serves as a framework for understanding and designing RDW algorithms. RDW enables users to explore…

We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. In…

Mixed Reality (MR) devices are being increasingly adopted across a wide range of real-world applications, ranging from education and healthcare to remote work and entertainment. However, the unique immersive features of MR devices, such as…

Head-worn augmented reality (AR) is a hotly pursued and increasingly feasible contender paradigm for replacing or complementing smartphones and watches for continual information consumption. Here, we compare three different AR navigation…

In motor neuroscience, artificial recurrent neural networks models often complement animal studies. However, most modeling efforts are limited to data-fitting, and the few that examine virtual embodied agents in a reinforcement learning…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Human motion transfer aims at animating a static source image with a driving video. While recent advances in one-shot human motion transfer have led to significant improvement in results, it remains challenging for methods with 2D body…

Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators…

Reality Distortion Room (RDR) is a proof-of-concept augmented reality system using projection mapping and unencumbered interaction with the Microsoft RoomAlive system to study a user's locomotive response to visual effects that seemingly…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…

This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived…