相关论文: Swoosh! Rattle! Thump! -- Actions that Sound

Interacting with bins and containers is a fundamental task in robotics, making state estimation of the objects inside the bin critical. While robots often use cameras for state estimation, the visual modality is not always ideal due to…

Humans and other intelligent animals evolved highly sophisticated perception systems that combine multiple sensory modalities. On the other hand, state-of-the-art artificial agents rely mostly on visual inputs or structured low-dimensional…

Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…

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…

A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…

Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan- act…

Audio perception is a key to solving a variety of problems ranging from acoustic scene analysis, music meta-data extraction, recommendation, synthesis and analysis. It can potentially also augment computers in doing tasks that humans do…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

We present a novel approach for interactive auditory object analysis with a humanoid robot. The robot elicits sensory information by physically shaking visually indistinguishable plastic capsules. It gathers the resulting audio signals from…

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…

Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…

We aim for zero-shot localization and classification of human actions in video. Where traditional approaches rely on global attribute or object classification scores for their zero-shot knowledge transfer, our main contribution is a…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

Sounds originate from object motions and vibrations of surrounding air. Inspired by the fact that humans is capable of interpreting sound sources from how objects move visually, we propose a novel system that explicitly captures such motion…

We study the problem of making 3D scene reconstructions interactive by asking the following question: can we predict the sounds of human hands physically interacting with a scene? First, we record a video of a human manipulating objects…

Human action is naturally compositional: humans can easily recognize and perform actions with objects that are different from those used in training demonstrations. In this paper, we study the compositionality of action by looking into the…

We introduce EPIC-SOUNDS, a large-scale dataset of audio annotations capturing temporal extents and class labels within the audio stream of the egocentric videos. We propose an annotation pipeline where annotators temporally label…

Recent Large Audio-Language Models (LALMs) have shown strong performance on various audio understanding tasks such as speech translation and Audio Q\&A. However, they exhibit significant limitations on challenging audio reasoning tasks in…

We propose Audio Noise Awareness using Visuals of Indoors for NAVIgation for quieter robot path planning. While humans are naturally aware of the noise they make and its impact on those around them, robots currently lack this awareness. A…

Grounding objects in images using visual cues is a well-established approach in computer vision, yet the potential of audio as a modality for object recognition and grounding remains underexplored. We introduce YOSS, "You Only Speak Once to…