Related papers: Voice control interface for surgical robot assista…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
Today's conversational agents are restricted to simple standalone commands. In this paper, we present Iris, an agent that draws on human conversational strategies to combine commands, allowing it to perform more complex tasks that it has…
The recognition of rare named entities, such as personal names and terminologies, is challenging for automatic speech recognition (ASR) systems, especially when they are not frequently observed in the training data. In this paper, we…
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor predictions can confuse operators or cause them to change their…
This paper investigates the implementation of voice-enabled Google Assistant and Amazon Alexa on Raspberry Pi. Virtual Assistants are being a new trend in how we interact or do computations with physical devices. A voice-enabled system…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Modern virtual personal assistants provide a convenient interface for completing daily tasks via voice commands. An important consideration for these assistants is the ability to recover from automatic speech recognition (ASR) and natural…
Recent progress in Automatic Speech Recognition (ASR) has been coupled with a substantial increase in the model sizes, which may now contain billions of parameters, leading to slow inferences even with adapted hardware. In this context,…
Advancing human-robot communication is crucial for autonomous systems operating in dynamic environments, where accurate real-time interpretation of human signals is essential. RoboCup provides a compelling scenario for testing these…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Imagine a future when we can Zoom-call a robot to manage household chores remotely. This work takes one step in this direction. Robi Butler is a new household robot assistant that enables seamless multimodal remote interaction. It allows…
This paper addresses the challenging scenario for the distant-talking control of a music playback device, a common portable speaker with four small loudspeakers in close proximity to one microphone. The user controls the device through…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
While speech interaction finds widespread utility within the Extended Reality (XR) domain, conventional vocal speech keyword spotting systems continue to grapple with formidable challenges, including suboptimal performance in noisy…
Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…
Emotion recognition and touch gesture decoding are crucial for advancing human-robot interaction (HRI), especially in social environments where emotional cues and tactile perception play important roles. However, many humanoid robots, such…
Speech enabled foundation models, either in the form of flexible speech recognition based systems or audio-prompted large language models (LLMs), are becoming increasingly popular. One of the interesting aspects of these models is their…
This paper describes a robotic arm with 5 degrees-of-freedom (DOF) which is controlled by human voice and has been developed in the Mechatronics Laboratory, CUET. This robotic arm is interfaced with a PC by serial communication (RS-232).…
Speech codecs serve as bridges between continuous speech signals and large language models, yet face an inherent conflict between acoustic fidelity and semantic preservation. To mitigate this conflict, prevailing methods augment acoustic…