相关论文: ALTo: Ad Hoc High-Accuracy Touch Interaction Using…
Accurately determining the shape of deformable objects and the location of their internal structures is crucial for medical tasks that require precise targeting, such as robotic biopsies. We introduce LUDO, a method for accurate low-latency…
Sound recognition is an important and popular function of smart devices. The location of sound is basic information associated with the acoustic source. Apart from sound recognition, whether the acoustic sources can be localized largely…
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…
Over 1.5 billion people worldwide live with hearing impairment. Despite various technologies that have been created for individuals with such disabilities, most of these technologies are either extremely expensive or inaccessible for…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
Recent advances in audio-driven portrait animation have demonstrated impressive capabilities. However, existing methods struggle to align with fine-grained human preferences across multiple dimensions, such as motion naturalness, lip-sync…
A rare genetic condition, PIEZO2 loss of function (LOF) is characterized by absence of proprioception and light touch, which makes functional tasks (e.g., walking, manipulation) difficult. There are no pharmacological treatments or…
Recent trend of touch-screen devices produces an accessibility barrier for visually impaired people. On the other hand, these devices come with sensors such as accelerometer. This calls for new approaches to human computer interface (HCI).…
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measurement unit (IMU). Our system, named HALO, addresses two key…
The diagnosis of Autism Spectrum Disorder (ASD) in children is commonly accompanied by a diagnosis of sensory processing disorders as well. Abnormalities are usually reported in multiple sensory processing domains, showing a higher…
Recent years have seen interest in device tracking and localization using acoustic signals. State-of-the-art acoustic motion tracking systems however do not achieve millimeter accuracy and require large separation between microphones and…
This paper presents a comprehensive study of virtual 3D object manipulation along 4DoF on real surfaces in mixed reality (MR), using hand-based and tangible interactions. A custom cylindrical tangible proxy leverages affordances of physical…
Gestures performed accompanying the voice are essential for voice interaction to convey complementary semantics for interaction purposes such as wake-up state and input modality. In this paper, we investigated voice-accompanying…
Internet of Things (IoT) applications are increasingly reliant on indoor positioning systems to deliver precise and reliable navigation in GNSS-denied environments, including urban areas, smart warehouses, hospitals, and underground or…
Embodied reference understanding is crucial for intelligent agents to predict referents based on human intention through gesture signals and language descriptions. This paper introduces the Attention-Dynamic DINO, a novel framework designed…
Acoustic Soft Tactile (AST) skin is a novel sensing technology which derives tactile information from the modulation of acoustic waves travelling through the skin's embedded acoustic channels. A generalisable data-driven calibration model…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
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…