Related papers: A-SLIP: Acoustic Sensing for Continuous In-hand Sl…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
In this paper, robust detection, tracking and geometry estimation methods are developed and combined into a system for estimating time-difference estimates, microphone localization and sound source movement. No assumptions on the 3D…
Data selection has emerged as a core issue for large-scale visual-language model pretaining (e.g., CLIP), particularly with noisy web-curated datasets. Three main data selection approaches are: (1) leveraging external non-CLIP models to aid…
Strain sensors are gaining popularity in soft robotics for acquiring tactile data due to their flexibility and ease of integration. Tactile sensing plays a critical role in soft grippers, enabling them to safely interact with unstructured…
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…
This research combines MediaPipe and CNNs for the efficient and accurate interpretation of ASL dataset for the real-time detection of sign language. The system presented here captures and processes hands' gestures in real time. the intended…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…
This paper discusses real-time alignment of audio signals of music performance to the corresponding score (a.k.a. score following) which can handle tempo changes, errors and arbitrary repeats and/or skips (repeats/skips) in performances.…
Detecting incipient slip enables early intervention to prevent object slippage and enhance robotic manipulation safety. However, deploying such systems on edge platforms remains challenging, particularly due to energy constraints. This work…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Existing lip-sync deepfake detectors rely on pixel artifacts or audio-visual correspondence, and both fail under generator or language shift because the features they learn are tied to the training distribution. We take a different…
Real-time automatic speech recognition systems are increasingly integrated into interactive applications, from voice assistants to live transcription services. However, scaling these systems to support multiple concurrent clients while…
Due to the mass advancement in ubiquitous technologies nowadays, new pervasive methods have come into the practice to provide new innovative features and stimulate the research on new human-computer interactions. This paper presents a hand…
Having knowledge on the room acoustic properties, e.g., the location of acoustic reflectors, allows to better reproduce the sound field as intended. Current state-of-the-art methods for room boundary detection using microphone measurements…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive design with an active fingertip that folds inward after…
Transmission of real-time data is strongly increasing due to remote processing of sensor data, among other things. A route to meet this demand is adaptive sensing, in which sensors acquire only relevant information using pre-processing at…
Acoustic indoor localization offers the potential for highly accurate position estimation while generally exhibiting low hardware requirements compared to Radio Frequency (RF)-based solutions. Furthermore, angular-based localization…
Visual language models like Contrastive Language-Image Pretraining (CLIP) have shown impressive performance in analyzing natural images with language information. However, these models often encounter challenges when applied to specialized…