A rule-based interactive behavioral animation system for humanoids

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Tracking a target person from robot-egocentric views is crucial for developing autonomous robots that provide continuous personalized assistance or collaboration in human–robot interaction (HRI) and Embodied AI. However, most existing target person tracking (TPT) benchmarks are limited to controlled laboratory environments with few distractions, clean backgrounds, and short-term occlusions. In this paper, we introduce a large-scale dataset designed for TPT in crowded and unstructured environments, demonstra

We show how a variety of techniques from Computer Graphics can be leveraged to intuitively control the shape (configuration) of arbitrary 3D Soft Robots in VR. Our pipeline, Virtual Reality Soft Robot Inverse Kinematics (VR-Soft IK), overcomes fundamental limitations of general-purpose drag-and-drop soft robot control interfaces by leaving the 2D computer screen for 3D Virtual Reality (VR). VR-Soft IK uses a simulation based on the Finite Element Method (FEM) and a control method based on sensitivity analys

Performing remote manipulation tasks by teleoperation with limited bandwidth, communication delays and environmental differences is a challenging problem. In this paper, we learn a task-parameterized generative model from the teleoperator demonstrations using a \textit{hidden semi-Markov model} that provides assistance in performing remote manipulation tasks. We present a probabilistic formulation to capture the intention of the teleoperator, and subsequently assist the teleoperator by time-independent shar

This study investigates the effect of short exposure to coloured light on thermal perception. To give the impression of natural daylight passing through coloured filters, but avoiding the drawbacks of conducting an experiment with daylight, continuously changing due to daily and seasonal variations, and to weather conditions, we investigate the use of Virtual Reality as a means to control the visual conditions, creating a hybrid environment with thermal and visual stimuli from the real and virtual world, re

This paper describes the design of a robot agent and associated learning algorithms to help children in handwriting acquisition. The main issue lies in how to program a robot to obtain human-like handwriting and then exploit it to teach children. We propose to address this by integrating learning from demonstrations paradigm, which allows the robot to extract a task index from intuitive expert (e.g., adults) demonstrations. We present our work on the development of an algorithm, as well as its validation by

Real time planning strategy is crucial for robots working in dynamic environments. In particular, robot grasping tasks require quick reactions in many applications such as human-robot interaction. In this paper, we propose an approach for grasp learning that enables robots to plan new grasps rapidly according to the object’s position and orientation. This is achieved by taking a three-step approach. In the first step, we compute a variety of stable grasps for a given object. In the second step, we propose a

Travel and residence times are well-known descriptors of hydrologic and solute transport in the vadose zone. It has been observed that their probability density functions are stationary only under specific conditions, rarely encountered in natural catchments. This study aims at demonstrating the emergence of non-stationary solute transport in a highly monitored system, and identifying the factors controlling the variations of the observed solute travel-times. 2-meters deep weighing lysimeters are exposed to

While there is a general consensus that autonomous robots should be able to learn continuously over time, the learning process is traditionally envisioned for each specific robot situated in a given environment. This does not consider the fact that robots performing similar tasks in similar settings would probably learn similar concepts. They would therefore benefit by sharing their prior experience with each other. In this paper we present a transfer learning algorithm that enables robots located in differ

The ability of building robust semantic space representations of environments is crucial for the development of truly autonomous robots. This task, inherently connected with cognition, is traditionally achieved by training the robot with a supervised learning phase. We argue that the design of robust and autonomous systems would greatly benefit from adopting a semi-supervised online learning approach. Indeed, the support of open-ended, lifelong learning is fundamental in order to cope with the dazzling vari

Improved diarization results can be obtained through combination of multiple systems. Several combination techniques have been proposed based on output voting, initialization and also integrated approaches. This paper proposes and investigates a novel approach to combine diarization systems through the use of features. A first diarization system, based on the Information Bottleneck, is used to generate a set of features that contain information relevant to the clustering. Those features are later used in co

Realistic body images (avatars) have been long utilized in virtual reality applications, and they are becoming increasingly used in Neuroscience and Neuroprosthetics fields. To elucidate monkeys' perception of avatars, we have measured reaction of two naive rhesus monkeys when confronted to realistic 3D monkey avatars with different facial expressions and different levels of realism. We have compared it with their reaction to images of real monkeys with similar facial expressions. Monkeys were initially ove

The problem of generating a virtual view of a scene, i.e. a view from a point where there is not a physical camera to capture the scene, has received recently a lot of attention from the computer vision community. This is probably due to the increase of the computational power of computers, which allows to deal with multiple view systems (systems composed of multiple cameras) efficiently. In this document, an introduction to virtual view generation techniques is presented. In a first part, geometric constra

For animals as well as for humans, the hypothesis of multiple memory systems involved in different navigation strategies is supported by several biological experiments. However, due to technical limitations, it remains difficult for experimentalists to elucidate how these neural systems interact. We present how a computational model of selection between navigation strategies can be used to analyse phenomena that cannot be directly observed in biological experiments. We reproduce an experiment where the rat'

Using phone posterior probabilities has been increasingly explored for improving automatic speech recognition (ASR) systems. In this paper, we propose two approaches for hierarchically enhancing these phone posteriors, by integrating long acoustic context, as well as prior phonetic and lexical knowledge. In the first approach, phone posteriors estimated with a Multi-Layer Perceptron (MLP), are used as emission probabilities in HMM forward-backward recursions. This yields new enhanced posterior estimates int

This paper starts from the ISO distinction of three types of evaluation procedures – internal, external and in use – and proposes to match these types to the three types of human language technology (HLT) systems: analysis, generation, and interactive. The paper explains why internal evaluation is not suitable to measure the qualities of HLT systems, and shows that reference-based external evaluation is best adapted to ‘analysis’ systems, task-based evaluation to ‘interactive’ systems, while ‘generation’ sy

This paper reports on four experimental studies concerning regard to how people use space so as to solve problems collaboratively in virtual environments. Prior to presenting the results, it summarizes the wide range of literature concerning social uses of spatiality in human interactions. The experiments we conducted revealed that virtual space modifies and improves collaborative processes such as division of labor, grounding, communication, coordination, as well as the performance to the task. It conclude

We present an augmented reality system that relies on purely passive techniques to solve the real-time registration problem. It can run on a portable PC and does not require engineering of the environment, for example by adding markers. To achieve this result, we have integrated robust computer vision techniques into a powerful VR framework. The resulting AR system allows us to produce complex rendering and animation of virtual human characters, and to blend them into the real world. The system tracks the 3

This paper presents the genesis of RoboX. This tour guide robot has been built from the scratch based on the experience of the Autonomous Systems Lab. The production of 11 of those machines has been realized by a spin-off of the lab: BlueBotics SA. The goal was to maximize the autonomy and interactivity of the mobile platform while ensuring high robustness, security and performance. The result is an interactive moving machine which can operate in human environments and interacts by seeing humans, talking to

The recent advances in micro-technology made it possible to realize very small autonomous robots. Such mobile micro-robots have many potential applications. Especially in space exploration, where weight and size is a very dominant issue, mobile micro-robots enable new mission concepts with multiple robots working in parallel. This makes the mission highly redundant and allows for simultaneous measurements at various places. These ideas motivated us to design and realize the mobile micro-robot LameAlice that

An integrated framework is proposed in which local perception and close manipulation skills are used in conjunction with a high-level behavioral interface based on a "smart object" paradigm as support for virtual agents to perform autonomous tasks. In our model, virtual "smart objects" encapsulate information about possible interactions with agents, including sub-tasks defined by scripts that the agent can perform. We then use Information provided by lowlevel sensing mechanisms (based on a simulated retina)

A rule-based interactive behavioral animation system for humanoids

Chattez avec Graph Search

TPT-Bench: A large-scale, long-term and robot-egocentric dataset for benchmarking target person tracking

A Soft Robot Inverse Kinematics for Virtual Reality

A Generative Model for Intention Recognition and Manipulation Assistance in Teleoperation

The effect of short exposure to coloured light on thermal perception: a study using Virtual Reality

Bidirectional Learning of Handwriting Skill in Human-Robot Interaction

Learning a Real Time Grasping Strategy

Non-Stationary Hydrologic Transport in the Vadose Zone: Experimental Results of Multiple Tracer Injections in Lysimeters

Transfer Learning of Visual Concepts across Robots: a Discriminative Approach

Towards semi-supervised learning of semantic spatial concepts

Information Bottleneck Features for HMM/GMM Speaker Diarization of Meetings Recordings

Social interaction probed by reaching to face images: Rhesus monkeys consider a textured monkey avatar as a conspecific.

Multiple-View Scenes: Reconstruction and Virtual Views

Analyzing Interactions Between Navigation Strategies Using a Computational Model of Action Selection

Enhanced Phone Posteriors for Improving Speech Recognition Systems

Reference-based vs. task-based evaluation of human language technology

DO PARTNERS CARE ABOUT THEIR MUTUAL LOCATION? Spatial awareness in virtual environments.

Stable Real-Time Interaction Between Virtual Humans and Real Scenes

Designing a Secure and Robust Mobile Interacting Robot for the Long Term

LameAlice, a Nanorover for Planetary Exploration

Defining behaviors for autonomous agents based on local perception and smart objects