相关论文: SonicSense: Object Perception from In-Hand Acousti…

In Augmented Reality (AR), virtual objects interact with real objects. However, the lack of physicality of virtual objects leads to the absence of natural sonic interactions. When virtual and real objects collide, either no sound or a…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…

Inspired by the role sound and friction play in interactions with everyday objects, this work aims to identify some of the ways in which kinetic surface friction rendering can complement interactive sonification controlled by movable…

Immersive audio-visual perception relies on the spatial integration of both auditory and visual information which are heterogeneous sensing modalities with different fields of reception and spatial resolution. This study investigates the…

Voice recognition technology enables the execution of real-world operations through a single voice command. This paper introduces a voice recognition system that involves converting input voice signals into corresponding text using an…

Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…

We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…

Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…

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…

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…

Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…