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Robotic manipulation tasks are contact-rich, yet most imitation learning (IL) approaches rely primarily on vision, which struggles to capture stiffness, roughness, slip, and other fine interaction cues. Tactile signals can address this gap,…
The goal of LocaGen is to improve the localization performance of audio signals in the 2-D beam localization problem. LocaGen reduces sampling quantization errors through machine learning models trained on realistic synthetic data generated…
This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed…
This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
When operating a machine, the operator needs to know some spatial relations, like the relative location of the target or the nearest obstacle. Often, sensors are used to derive this spatial information, and visual displays are deployed as…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
Visual events are usually accompanied by sounds in our daily lives. However, can the machines learn to correlate the visual scene and sound, as well as localize the sound source only by observing them like humans? To investigate its…
Localizing visual sounds consists on locating the position of objects that emit sound within an image. It is a growing research area with potential applications in monitoring natural and urban environments, such as wildlife migration and…
This article is a survey on deep learning methods for single and multiple sound source localization. We are particularly interested in sound source localization in indoor/domestic environment, where reverberation and diffuse noise are…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
This paper introduces a new framework for supervised sound source localization referred to as virtually-supervised learning. An acoustic shoe-box room simulator is used to generate a large number of binaural single-source audio scenes.…
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it…
Humans can easily perceive the direction of sound sources in a visual scene, termed sound source localization. Recent studies on learning-based sound source localization have mainly explored the problem from a localization perspective.…
Localizing a moving sound source in the real world involves determining its direction-of-arrival (DOA) and distance relative to a microphone. Advancements in DOA estimation have been facilitated by data-driven methods optimized with large…
Augmented reality devices have the potential to enhance human perception and enable other assistive functionalities in complex conversational environments. Effectively capturing the audio-visual context necessary for understanding these…