相关论文: The Boombox: Visual Reconstruction from Acoustic V…

Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

This paper applies the principles of Virtual Reality (VR) to robots, rather than living organisms. A simulator, of either physical states or information states, renders outputs to custom displays that fool the robot's sensors. This enables…

Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud…

This work introduces a robotic dummy head that fuses the acoustic realism of conventional audiological mannequins with the mobility of robots. The proposed device is capable of moving, talking, and listening as people do, and can be used to…

For robotic agents operating in dynamic environments, learning visual state representations from streaming video observations is essential for sequential decision making. Recent self-supervised learning methods have shown strong…

Vision research showed remarkable success in understanding our world, propelled by datasets of images and videos. Sensor data from radar, LiDAR and cameras supports research in robotics and autonomous driving for at least a decade. However,…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Past research has clearly established that music can affect mood and that mood affects emotional and cognitive processing, and thus decision-making. It follows that if a robot interacting with a person needs to predict the person's…

Ultrasound (US) imaging is widely used for biometric measurement and diagnosis of internal organs due to the advantages of being real-time and radiation-free. However, due to inter-operator variations, resulting images highly depend on the…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

Reflective and textureless surfaces such as windows, mirrors, and walls can be a challenge for object and scene reconstruction. These surfaces are often poorly reconstructed and filled with depth discontinuities and holes, making it…

The sensory perceptions of vision and sound may be considered as complementary doorways towards interpreting and understanding physical phenomena. We provide a few selected samples where scientific data of systems usually not directly…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…

Sonification is the science of communication of data and events to users through sounds. Auditory icons, earcons, and speech are the common auditory display schemes utilized in sonification, or more specifically in the use of audio to…

Despite the success of vision-based dynamics prediction models, which predict object states by utilizing RGB images and simple object descriptions, they were challenged by environment misalignments. Although the literature has demonstrated…

As robots perform manipulation tasks and interact with objects, it is probable that they accidentally drop objects (e.g., due to an inadequate grasp of an unfamiliar object) that subsequently bounce out of their visual fields. To enable…

While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…