8 accepted papers
Current state-of-the-art 3D reconstruction models face limitations in building extra-large scale outdoor scenes, primarily due to the lack of sufficiently large-scale and detailed datasets. In this paper, we present a extra-large fine-grained dataset with 10 billion points composed of 41,006 drone-c…
Long-form egocentric video understanding provides rich contextual information and unique insights into long-term human behaviors, holding significant potential for applications in embodied intelligence, long-term activity analysis, and personalized assistive technologies. However, existing benchmark
We present a novel method of CNN inference for pixel processor array (PPA) vision sensors, designed to take advantage of their massive parallelism and analog compute capabilities. PPA sensors consist of an array of processing elements (PEs), with each PE capable of light capture, data storage and co…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation. Here, we propose an intention prediction model to enhance co…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot - a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which, after modelling via a pilot study, we use as a proxy for estim…
We present a novel 6-DoF cable driven manipulator for handheld robotic tasks. Based on a coupled tendon approach, the arm is optimized to maximize movement speed and configuration space while reducing the total mass of the arm. We propose a space carving approach to design optimal link geometry maxi
In this paper we address the question of how to provide feedback information to guide users of a handheld robotic device when performing a spatial exploration task. We consider various feedback methods for communicating a five degree of freedom target pose to a user including a stereoscopic VR displ
This paper concerns itself with a relatively unexplored type of personal robot that operates in the tool space. Handheld robots aim to cooperate with the user to solve tasks and improve what tools can offer enhanced by actuation, sensing, and importantly, task knowledge. To this end, we devised a ne…