相关论文: ForcePinch: Force-Responsive Spatial Interaction f…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven…
The design of intuitive three-dimensional user interfaces is vital for interaction in virtual reality, allowing to effectively close the loop between a human user and the virtual environment. The utilization of 3D gestural input allows for…
Existing visual trackers mainly operate in a non-interactive, fire-and-forget manner, making them impractical for real-world scenarios that require human-in-the-loop adaptation. To overcome this limitation, we introduce Interactive…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Recent advancements in deep learning, computer vision, and embodied AI have given rise to synthetic causal reasoning video datasets. These datasets facilitate the development of AI algorithms that can reason about physical interactions…
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…
In this work, we propose TextIM, a novel framework for synthesizing TEXT-driven human Interactive Motions, with a focus on the precise alignment of part-level semantics. Existing methods often overlook the critical roles of interactive body…
Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback…
Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
Friction-induced vibration (FIV) is very common in engineering areas. Analysing the dynamic behaviour of systems containing a multiple-contact point frictional interface is an important topic. However, accurately simulating…
Most research on 3D user interfaces aims at providing only a single sensory modality. One challenge is to integrate several sensory modalities into a seamless system while preserving each modality's immersion and performance factors. This…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
This paper investigates multi-selection in XR interfaces based on eye and hand interaction. We propose enabling multi-selection using different variations of techniques that combine gaze with a semi-pinch gesture, allowing users to select…
We present a physics-based character control framework for synthesizing human-scene interactions. Recent advances adopt physics simulation to mitigate artifacts produced by data-driven kinematic approaches. However, existing physics-based…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…