Related papers: Speculating a Tactile Grammar: Toward Task-Aligned…
This paper is a collaborative piece between two worlds of expertise in the field of data visualization: accessibility and bias. In particular, the rise of generative models playing a role in accessibility is a worrying trend for data…
Recent graph-based models for multi-intent SLU have obtained promising results through modeling the guidance from the prediction of intents to the decoding of slot filling. However, existing methods (1) only model the unidirectional…
Large Language Models (LLMs) have demonstrated strong capabilities in various natural language processing tasks; however, their application to graph-related problems remains limited, primarily due to scalability constraints and the absence…
Tactile localization is the seemingly simple ability to 'tell' where a touch has occurred. However, how this ability is assessed, and what conclusions are drawn from experiments, depends on the theoretical ideas that inspire the research.…
In a world driven by data visualization, ensuring the inclusive accessibility of charts for Blind and Visually Impaired (BVI) individuals remains a significant challenge. Charts are usually presented as raster graphics without textual and…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Work on knowledge graphs and graph-based data management often focus either on declarative graph query languages or on frameworks for graph analytics, where there has been little work in trying to combine both approaches. However, many…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
Multimodal Large Language Models (MLLMs) have remarkably progressed in analyzing and understanding images. Despite these advancements, accurately regressing values in charts remains an underexplored area for MLLMs. For visualization, how do…
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a…
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…
Graphical model selection is a seemingly impossible task when many pairs of variables are never jointly observed; this requires inference of conditional dependencies with no observations of corresponding marginal dependencies. This…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
Often, the needs and visual abilities differ between the annotator group and the end user group. Generating detailed diagram descriptions for blind and low-vision (BLV) users is one such challenging domain. Sighted annotators could describe…
Inferring spatial-temporal properties from data is important for many complex systems, such as additive manufacturing systems, swarm robotic systems and biological networks. Such systems can often be modeled as a labeled graph where labels…
Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…
Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sensors. To address these concerns, we introduce a novel…
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…
Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…