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We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of markers on the sensor's external surface. Incipient slip is…
Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…
Modeling tap or click sequences of users on a mobile device can improve our understandings of interaction behavior and offers opportunities for UI optimization by recommending next element the user might want to click on. We analyzed a…
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Magnetic tapes have been playing a key role as means for storage of digital data for decades, and their unsurpassed cost-effectiveness still make them the technology of choice in several industries, such as media and entertainment. Tapes…
In this paper we study the suitability of a new generation of CAPTCHA methods based on smartphone interactions. The heterogeneous flow of data generated during the interaction with the smartphones can be used to model human behavior when…
Multi-touch input technologies are becoming popular with the increased interest in touchscreen- and touchpad-based devices. A great deal of work has been done on different multi-touch technologies, and researchers and practitioners are…
Finger-Fitts law (FFitts law) is a model to predict touch-pointing times, modified from Fitts' law. It considers the absolute touch-point precision, or a finger tremor factor sigma_a, to decrease the admissible target area and thus increase…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
Tracking Any Point (TAP) in a video is a challenging computer vision problem with many demonstrated applications in robotics, video editing, and 3D reconstruction. Existing methods for TAP rely heavily on complex tracking-specific inductive…
ML-augmented algorithms utilize predictions to achieve performance beyond their worst-case bounds. Producing these predictions might be a costly operation -- this motivated Im et al. '22 to introduce the study of algorithms which use…
Load forecasting is essential for the efficient, reliable, and cost-effective management of power systems. Load forecasting performance can be improved by learning the similarities among multiple entities (e.g., regions, buildings).…
Traffic management in a city has become a major problem due to the increasing number of vehicles on roads. Intelligent Transportation System (ITS) can help the city traffic managers to tackle the problem by providing accurate traffic…
We propose a texture template approach, consisting of a set of virtual minutiae, to improve the overall latent fingerprint recognition accuracy. To compensate for the lack of sufficient number of minutiae in poor quality latent prints, we…
In this paper, we introduce a lightweight permission enforcement approach - Tap-Wave-Rub (TWR) - for smartphone malware prevention. TWR is based on simple human gestures that are very quick and intuitive but less likely to be exhibited in…
Since its conception, smart app market has grown exponentially. Success in the app market depends on many factors among which the quality of the app is a significant contributor, such as energy use. Nevertheless, smartphones, as a subset of…
Caching is crucial for system performance, but the delayed hit phenomenon, where requests queue during lengthy fetches after a cache miss, significantly degrades user-perceived latency in modern high-throughput systems. While prior works…
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning…