相关论文: That Sounds Right: Auditory Self-Supervision for D…

We develop a learning-based control algorithm for unknown dynamical systems under very severe data limitations. Specifically, the algorithm has access to streaming and noisy data only from a single and ongoing trial. It accomplishes such…

Accurate predictive turn-taking models (PTTMs) are essential for naturalistic human-robot interaction. However, little is known about their performance in noise. This study therefore explores PTTM performance in types of noise likely to be…

Learning from demonstration is a proven technique to teach robots new skills. Data quality and quantity play a critical role in the performance of models trained using data collected from human demonstrations. In this paper we enhance an…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

The effectiveness of self-supervised learning (SSL) for physiological time series depends on the ability of a pretraining objective to preserve information about the underlying physiological state while filtering out unrelated noise.…

Robot musicians require precise control to obtain proper note accuracy, sound quality, and musical expression. Performance of string instruments, such as violin and cello, presents a significant challenge due to the precise control required…

Humans possess a remarkable talent for flexibly alternating to different senses when interacting with the environment. Picture a chef skillfully gauging the timing of ingredient additions and controlling the heat according to the colors,…

Sound event detection is a core module for acoustic environmental analysis. Semi-supervised learning technique allows to largely scale up the dataset without increasing the annotation budget, and recently attracts lots of research…

Emotion recognition is a topic of significant interest in assistive robotics due to the need to equip robots with the ability to comprehend human behavior, facilitating their effective interaction in our society. Consequently, efficient and…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

Although deep reinforcement learning (DRL) approaches in audio signal processing have seen substantial progress in recent years, audio-driven DRL for tasks such as navigation, gaze control and head-orientation control in the context of…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

Conversational machine reading (CMR) tools have seen a rapid progress in the recent past. The current existing tools rely on the supervised learning technique which require labeled dataset for their training. The supervised technique…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

Perceptual metrics are traditionally used to evaluate the quality of natural signals, such as images and audio. They are designed to mimic the perceptual behaviour of human observers and usually reflect structures found in natural signals.…

Rapid development of social robots stimulates active research in human motion modeling, interpretation and prediction, proactive collision avoidance, human-robot interaction and co-habitation in shared spaces. Modern approaches to this end…

Imitation learning from large multi-task demonstration datasets has emerged as a promising path for building generally-capable robots. As a result, 1000s of hours have been spent on building such large-scale datasets around the globe.…

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sounds, programmed by artists and engineers to make the robot…