Publications (49)
Corrective Shared Autonomy for Addressing Task Variability
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to int…
Trinary Tools for Continuously Valued Binary Classifiers
Michael Gleicher, Xinyi Yu, Yuheng Chen
Classification methods for binary (yes/no) tasks often produce a continuously valued score. Machine learning practitioners must perform model selection, calibration, discretization…
A Problem Space for Designing Visualizations
Michael Gleicher, Maria Riveiro, Tatiana von Landesberger +3
Visualization researchers and visualization professionals seek appropriate abstractions of visualization requirements that permit considering visualization solutions independently…
Exploiting Task Tolerances in Mimicry-based Telemanipulation
Yeping Wang, Carter Sifferman, Michael Gleicher
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a…
CAVA: A Visual Analytics System for Exploratory Columnar Data Augmentation Using Knowledge Graphs
Dylan Cashman, Shenyu Xu, Subhajit Das +6
Most visual analytics systems assume that all foraging for data happens before the analytics process; once analysis begins, the set of data attributes considered is fixed. Such sep…
Anchoring and Alignment: Data Factors in Part-to-Whole Visualization
Connor Bailey, Michael Gleicher
We explore the effects of data and design considerations through the example case of part-to-whole data relationships. Standard part-to-whole representations like pie charts and st…
Divided Attention Amplifies the Importance of Expectation-Aligned Visualization Design
Jiho Kim, Anna L. Chinni, Karen B. Schloss +1
Studies have shown that visualization design affects interpretability when visualization interpretation is the user's sole task. However, in real-world settings, users often engage…
Handheld Haptic Device with Coupled Bidirectional Input
Megh Vipul Doshi, Michael Hagenow, Robert Radwin +3
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new ha…
Recognizing Orientation Slip in Human Demonstrations
Michael Hagenow, Bolun Zhang, Bilge Mutlu +2
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in…
Efficient Detection of Objects Near a Robot Manipulator via Miniature Time-of-Flight Sensors
Carter Sifferman, Mohit Gupta, Michael Gleicher
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is diff…
IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's ki…
Enhancing Text Corpus Exploration with Post Hoc Explanations and Comparative Design
Michael Gleicher, Keaton Leppenan, Yunyu Bai
Text corpus exploration (TCE) spans the range of exploratory search tasks: it goes beyond simple retrieval to include item discovery and learning about the corpus and topic. System…
A Design Space of Control Coordinate Systems in Telemanipulation
Yeping Wang, Pragathi Praveena, Michael Gleicher
Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should…
A System for Human-Robot Teaming through End-User Programming and Shared Autonomy
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying…
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita +1
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equ…
Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system lever…
Anytime Planning for End-Effector Trajectory Tracking
Yeping Wang, Michael Gleicher
End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferr…
Exploring the Use of Collaborative Robots in Cinematography
Pragathi Praveena, Bengisu Cagiltay, Michael Gleicher +1
Robotic technology can support the creation of new tools that improve the creative process of cinematography. It is crucial to consider the specific requirements and perspectives o…
Boxer: Interactive Comparison of Classifier Results
Michael Gleicher, Aditya Barve, Xinyi Yu +1
Machine learning practitioners often compare the results of different classifiers to help select, diagnose and tune models. We present Boxer, a system to enable such comparison. Ou…
Recovering Parametric Scenes from Very Few Time-of-Flight Pixels
Carter Sifferman, Yiquan Li, Yiming Li +4
We aim to recover the geometry of 3D parametric scenes using very few depth measurements from low-cost, commercially available time-of-flight sensors. These sensors offer very low…
Situated Live Programming for Human-Robot Collaboration
Emmanuel Senft, Michael Hagenow, Robert Radwin +3
We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for hum…
Inferring geometric constraints in human demonstrations
Guru Subramani, Michael Zinn, Michael Gleicher
This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinem…
Visual Validation versus Visual Estimation: A Study on the Average Value in Scatterplots
Daniel Braun, Ashley Suh, Remco Chang +2
We investigate the ability of individuals to visually validate statistical models in terms of their fit to the data. While visual model estimation has been studied extensively, vis…
Make the Unhearable Visible: Exploring Visualization for Musical Instrument Practice
Frank Heyen, Michael Gleicher, Michael Sedlmair
We explore the potential of visualization to support musicians in instrument practice through real-time feedback and reflection on their playing. Musicians often struggle to observ…
Using a Distance Sensor to Detect Deviations in a Planar Surface
Carter Sifferman, William Sun, Mohit Gupta +1
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement fro…
Towards 3D Vision with Low-Cost Single-Photon Cameras
Fangzhou Mu, Carter Sifferman, Sacha Jungerman +5
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras,…
Visual Designs for Binned Aggregation of Multi-Class Scatterplots
Florian Heimerl, Chih-Ching Chang, Alper Sarikaya +1
Point sets in 2D with multiple classes are a common type of data. A canonical visualization design for them are scatterplots, which do not scale to large collections of points. For…
Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this paper, we present a meta-algorithm intended to accelerate many existing path optimization algorithms. The central idea of our work is to strategically break up a waypoint p…
A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation
Emmanuel Senft, Michael Hagenow, Pragathi Praveena +4
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator…
Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators
Yeping Wang, Michael Gleicher
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we pr…
Coordinated Multi-Robot Shared Autonomy Based on Scheduling and Demonstrations
Michael Hagenow, Emmanuel Senft, Nitzan Orr +5
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily…
Augmenting a Large Language Model with a Combination of Text and Visual Data for Conversational Visualization of Global Geospatial Data
Omar Mena, Alexandre Kouyoumdjian, Lonni Besançon +3
We present a method for augmenting a Large Language Model (LLM) with a combination of text and visual data to enable accurate question answering in visualization of scientific data…
Visualization of topology optimization designs with representative subset selection
Daniel J Perry, Vahid Keshavarzzadeh, Shireen Y Elhabian +3
An important new trend in additive manufacturing is the use of optimization to automatically design industrial objects, such as beams, rudders or wings. Topology optimization, as i…
Beware of Validation by Eye: Visual Validation of Linear Trends in Scatterplots
Daniel Braun, Remco Chang, Michael Gleicher +1
Visual validation of regression models in scatterplots is a common practice for assessing model quality, yet its efficacy remains unquantified. We conducted two empirical experimen…
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance
Daniel Rakita, Haochen Shi, Bilge Mutlu +1
In this work, we present a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequenc…
Task-Level Authoring for Remote Robot Teleoperation
Emmanuel Senft, Michael Hagenow, Kevin Welsh +4
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and constru…
Characterizing Input Methods for Human-to-robot Demonstrations
Pragathi Praveena, Guru Subramani, Bilge Mutlu +1
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not b…
A Method for Constraint Inference Using Pose and Wrench Measurements
Guru Subramani, Michael Hagenow, Michael Gleicher +1
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinem…
embComp: Visual Interactive Comparison of Vector Embeddings
Florian Heimerl, Christoph Kralj, Torsten Möller +1
This paper introduces embComp, a novel approach for comparing two embeddings that capture the similarity between objects, such as word and document embeddings. We survey scenarios…
A User-based Visual Analytics Workflow for Exploratory Model Analysis
Dylan Cashman, Shah Rukh Humayoun, Florian Heimerl +9
Many visual analytics systems allow users to interact with machine learning models towards the goals of data exploration and insight generation on a given dataset. However, in some…
Manually Acquiring Targets from Multiple Viewpoints Using Video Feedback
Bailey Ramesh, Anna Konstant, Pragathi Praveena +5
Objective: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. Background: Previous research in laparoscopy and robotic tele…
Motion Comparator: Visual Comparison of Robot Motions
Yeping Wang, Alexander Peseckis, Zelong Jiang +1
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designe…
RSVP for VPSA : A Meta Design Study on Rapid Suggestive Visualization Prototyping for Visual Parameter Space Analysis
Manfred Klaffenboeck, Michael Gleicher, Johannes Sorger +2
Visual Parameter Space Analysis (VPSA) enables domain scientists to explore input-output relationships of computational models. Existing VPSA applications often feature multi-view…
Periscope: A Robotic Camera System to Support Remote Physical Collaboration
Pragathi Praveena, Yeping Wang, Emmanuel Senft +2
We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system ca…
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston +5
Recently, there has been a wealth of development in motion planning for robotic manipulation new motion planners are continuously proposed, each with their own unique strengths and…
Single-query Path Planning Using Sample-efficient Probability Informed Trees
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. It…
Subjective visualization experiences: impact of visual design and experimental design
Laura Koesten, Drew Dimmery, Michael Gleicher +1
In contrast to objectively measurable aspects (such as accuracy, reading speed, or memorability), the subjective experience of visualizations has only recently gained importance, a…
Registering Articulated Objects With Human-in-the-loop Corrections
Michael Hagenow, Emmanuel Senft, Evan Laske +6
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such a…
Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms
Carter Sifferman, Yeping Wang, Mohit Gupta +1
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient hi…