相关论文: The Boombox: Visual Reconstruction from Acoustic V…
This paper introduces a new framework for supervised sound source localization referred to as virtually-supervised learning. An acoustic shoe-box room simulator is used to generate a large number of binaural single-source audio scenes.…
We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have shown promising results with acoustic sensing for object…
The sound of crashing waves, the roar of fast-moving cars -- sound conveys important information about the objects in our surroundings. In this work, we show that ambient sounds can be used as a supervisory signal for learning visual…
The sound of crashing waves, the roar of fast-moving cars -- sound conveys important information about the objects in our surroundings. In this work, we show that ambient sounds can be used as a supervisory signal for learning visual…
We introduce Vocal Sandbox, a framework for enabling seamless human-robot collaboration in situated environments. Systems in our framework are characterized by their ability to adapt and continually learn at multiple levels of abstraction…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
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…
Truly intelligent agents need to capture the interplay of all their senses to build a rich physical understanding of their world. In robotics, we have seen tremendous progress in using visual and tactile perception; however, we have often…
Sound is an information-rich medium that captures dynamic physical events. This work presents STReSSD, a framework that uses sound to bridge the simulation-to-reality gap for stochastic dynamics, demonstrated for the canonical case of a…
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…
As an embodied and spatial medium, virtual reality is proving an attractive proposition for robot teleoperation in hazardous environments. This paper examines a nuclear decommissioning scenario in which a simulated team of semi-autonomous…
Ambisonics i.e., a full-sphere surround sound, is quintessential with 360-degree visual content to provide a realistic virtual reality (VR) experience. While 360-degree visual content capture gained a tremendous boost recently, the…
In order to operate in and interact with the physical world, robots need to have estimates of the current and future state of the environment. We thus equip robots with sensors and build models and algorithms that, given some measurements,…
This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of…
From whirling ceiling fans to ticking clocks, the sounds that we hear subtly vary as we move through a scene. We ask whether these ambient sounds convey information about 3D scene structure and, if so, whether they provide a useful learning…
Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into ``visual microphones''. However, most prior methods had focused on capturing the vibrations of…
In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the environmental state recognition has traditionally involved…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…
In this paper our objectives are, first, networks that can embed audio and visual inputs into a common space that is suitable for cross-modal retrieval; and second, a network that can localize the object that sounds in an image, given the…
The contactless estimation of the weight of a container and the amount of its content manipulated by a person are key pre-requisites for safe human-to-robot handovers. However, opaqueness and transparencies of the container and the content,…