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Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…
The ability to localize and track acoustic events is a fundamental prerequisite for equipping machines with the ability to be aware of and engage with humans in their surrounding environment. However, in realistic scenarios, audio signals…
Masked token prediction has emerged as a powerful pre-training objective across language, vision, and speech, offering the potential to unify these diverse modalities through a single pre-training task. However, its application for general…
With the rapid development of mobile devices and the fast increase of sensitive data, secure and convenient mobile authentication technologies are desired. Except for traditional passwords, many mobile devices have biometric-based…
Speech emotion recognition (SER) is essential for humanoid robot tasks such as social robotic interactions and robotic psychological diagnosis, where interpretable and efficient models are critical for safety and performance. Existing deep…
Acoustic scene classification (ASC) predominantly relies on supervised approaches. However, acquiring labeled data for training ASC models is often costly and time-consuming. Recently, self-supervised learning (SSL) has emerged as a…
SpoofTrackBench is a reproducible, modular benchmark for evaluating adversarial robustness in real-time localization and tracking (RTLS) systems under radar spoofing. Leveraging the Hampton University Skyler Radar Sensor dataset, we…
Automatic analysis of bioacoustic signals is a fundamental tool to evaluate the vitality of our planet. Frogs and bees, for instance, may act like biological sensors providing information about environmental changes. This task is…
This paper introduces Synthetic Enclosed Echoes (SEE), a novel dataset designed to enhance robot perception and 3D reconstruction capabilities in underwater environments. SEE comprises high-fidelity synthetic sonar data, complemented by a…
Localizing and tracking of marine mammals can reveal key insights into behaviors underwater that otherwise would remain unexplored. A promising nonintrusive approach to obtaining location information of marine mammals is based on recordings…
Detecting flying animals (e.g., birds, bats, and insects) using weather radar helps gain insights into animal movement and migration patterns, aids in management efforts (such as biosecurity) and enhances our understanding of the…
This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expressive set representation that can exactly represent the…
This paper addresses the task of counting human actions of interest using sensor data from wearable devices. We propose a novel exemplar-based framework, allowing users to provide exemplars of the actions they want to count by vocalizing…
We introduce SonoHaptics, an audio-haptic cursor for gaze-based 3D object selection. SonoHaptics addresses challenges around providing accurate visual feedback during gaze-based selection in Extended Reality (XR), e.g., lack of world-locked…
This study proposes a method for simulating signals received by frequency-modulated continuous-wave radar during respiratory monitoring, using human body geometry and displacement data acquired via a depth camera. Unlike previous studies…
In this paper, we explore the feasibility of using communication signals for extended target (ET) tracking in an integrated sensing and communication (ISAC) system. The ET is characterized by its center range, azimuth, orientation, and…
Time delay estimation or Time-Difference-Of-Arrival estimates is a critical component for multiple localization applications such as multilateration, direction of arrival, and self-calibration. The task is to estimate the time difference…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…
Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…