相关论文: Cross-Modal Terrains: Navigating Sonic Space throu…

A new method is presented, allowing for the generation of 3D terrain and texture from coherent noise. The method is significantly faster than prevailing fractal brownian motion approaches, while producing results of equivalent quality. The…

We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degree…

Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the physical grounding required for contact-rich tool…

Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…

Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…

We propose and study a novel cross-reality environment that seamlessly integrates a monoscopic 2D surface (an interactive screen with touch and pen input) with a stereoscopic 3D space (an augmented reality HMD) to jointly host spatial data…

In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…

Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…

Image-to-image translation and voice conversion enable the generation of a new facial image and voice while maintaining some of the semantics such as a pose in an image and linguistic content in audio, respectively. They can aid in the…

We present an acoustic musical instrument played through a resonance model of another sound. The resonance model is controlled in real time as part of the composite instrument. Our implementation uses an electric violin, whose spatial…

The paper presents results from a project aiming to create horizontally distributed surround sound sources and virtual sound images as auditory BCI (aBCI) stimuli. The purpose is to create evoked brain wave response patterns depending on…

Humans rely on multimodal perception to form representations of the world. This implies that environmental stimuli must remain consistent and predictable throughout their journey to our sensory organs. When it comes to vision,…

Visual dialogue is a challenging task since it needs to answer a series of coherent questions on the basis of understanding the visual environment. Previous studies focus on the implicit exploration of multimodal co-reference by implicitly…

The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…

This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…

Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is…

Foundation models have transformed natural language processing and computer vision, and their impact is now reshaping remote sensing image analysis. With powerful generalization and transfer learning capabilities, they align naturally with…