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Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional…
This study presents a system for sound source localization in time domain using a deep residual neural network. Data from the linear 8 channel microphone array with 3 cm spacing is used by the network for direction estimation. We propose to…
Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a challenge because…
In this paper, we propose an effective and robust method for acoustic scene analysis based on spatial information extracted from partially synchronized and/or closely located distributed microphones. In the proposed method, to extract…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
We present a novel approach to the 3D sound source localization task for distributed ad-hoc microphone arrays by formulating it as a set-to-set regression problem. By training a multi-modal masked autoencoder model that operates on audio…
Automatic audio event recognition plays a pivotal role in making human robot interaction more closer and has a wide applicability in industrial automation, control and surveillance systems. Audio event is composed of intricate phonic…
Mobile robots operating in unknown urban environments encounter a wide range of complex terrains to which they must adapt their planned trajectory for safe and efficient navigation. Most existing approaches utilize supervised learning to…
The expanding feature set of modern headphones puts a challenge on the design of their control interface. Users may want to separately control each feature or quickly switch between modes that activate different features. Traditional…
Social interactions play a crucial role in shaping human behavior, relationships, and societies. It encompasses various forms of communication, such as verbal conversation, non-verbal gestures, facial expressions, and body language. In this…
A primary challenge in developing synthetic spatial hearing systems, particularly underwater, is accurately modeling sound scattering. Biological organisms achieve 3D spatial hearing by exploiting sound scattering off their bodies to…
The task of partially spoofed audio localization aims to accurately determine audio authenticity at a frame level. Although some works have achieved encouraging results, utilizing boundary information within a single model remains an…
Acoustic signal processing in the spherical harmonics domain (SHD) is an active research area that exploits the signals acquired by higher order microphone arrays. A very important task is that concerning the localization of active sound…
Integrating spatial context into large language models (LLMs) has the potential to revolutionize human-computer interaction, particularly in wearable devices. In this work, we present a novel system architecture that incorporates spatial…
We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…
Voice recognition technology enables the execution of real-world operations through a single voice command. This paper introduces a voice recognition system that involves converting input voice signals into corresponding text using an…