相关论文: Active Acoustic Sensing for Robot Manipulation

The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…

Recent advancements in robotics, control, and machine learning have facilitated progress in the challenging area of object manipulation. These advancements include, among others, the use of deep neural networks to represent dynamics that…

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…

Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…

We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…

Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

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…

Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

Transmission of real-time data is strongly increasing due to remote processing of sensor data, among other things. A route to meet this demand is adaptive sensing, in which sensors acquire only relevant information using pre-processing at…

Modular soft robots combine the strengths of two traditionally separate areas of robotics. As modular robots, they can show robustness to individual failure and reconfigurability; as soft robots, they can deform and undergo large shape…

Hand gesture recognition attracts great attention for interaction since it is intuitive and natural to perform. In this paper, we explore a novel method for interaction by using bone-conducted sound generated by finger movements while…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…