Related papers: A-SLIP: Acoustic Sensing for Continuous In-hand Sl…
The well-aligned attribute of CLIP-based models enables its effective application like CLIPscore as a widely adopted image quality assessment metric. However, such a CLIP-based metric is vulnerable for its delicate multimodal alignment. In…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
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,…
Haptic sciences and technologies benefit greatly from comprehensive datasets that capture tactile stimuli under controlled, systematic conditions. However, existing haptic datasets collect data through uncontrolled exploration, which…
We propose Wav2CLIP, a robust audio representation learning method by distilling from Contrastive Language-Image Pre-training (CLIP). We systematically evaluate Wav2CLIP on a variety of audio tasks including classification, retrieval, and…
In this paper, we demonstrate that CLIP can also be adapted to downstream tasks where its vision-language alignment is suboptimally learned during pre-training on web-crawled data, all without requiring fine-tuning. We explore the case of…
Modern optical mouse sensors, with their advanced precision and high responsiveness, possess an often overlooked vulnerability: they can be exploited for side-channel attacks. This paper introduces Mic-E-Mouse, the first-ever side-channel…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intuitive interface for real-time human…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
Acoustic traps are used to capture and handle suspended microparticles and cells in microfluidic applications. A particular simple and much-used acoustic trap consists of a commercially available, millimeter-sized, liquid-filled glass…
A sliding-window inference strategy is commonly adopted in recent training-free open-vocabulary semantic segmentation methods to overcome limitation of the CLIP in processing high-resolution images. However, this approach introduces a new…
An innovative few-shot anomaly detection approach is presented, leveraging the pre-trained CLIP model for medical data, and adapting it for both image-level anomaly classification (AC) and pixel-level anomaly segmentation (AS). A…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
Despite recent advances in syncing lip movements with any audio waves, current methods still struggle to balance generation quality and the model's generalization ability. Previous studies either require long-term data for training or…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Clipping the gradient is a known approach to improving gradient descent, but requires hand selection of a clipping threshold hyperparameter. We present AutoClip, a simple method for automatically and adaptively choosing a gradient clipping…