相关论文: Voice control interface for surgical robot assista…

Indirect speech acts (ISAs) are a natural pragmatic feature of human communication, allowing requests to be conveyed implicitly while maintaining subtlety and flexibility. Although advancements in speech recognition have enabled natural…

If a picture paints a thousand words, sound may voice a million. While recent robotic painting and image synthesis methods have achieved progress in generating visuals from text inputs, the translation of sound into images is vastly…

We present a volumetric communication system that is designed for remote assistance of procedural tasks. The system allows a remote expert to visually guide a local operator. The two parties share a view that is spatially identical, but for…

Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…

Enabling robots to accurately interpret and execute spoken language instructions is essential for effective human-robot collaboration. Traditional methods rely on speech recognition to transcribe speech into text, often discarding crucial…

The current generation of surgeons requires extensive training in teleoperation to develop specific dexterous skills, which are independent of medical knowledge. Training curricula progress from manipulation tasks to simulated surgical…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…

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…

We present an open-source system designed for multilingual translation and speech regeneration, addressing challenges in communication and accessibility across diverse linguistic contexts. The system integrates Whisper for speech…

Whispering is a common privacy-preserving technique in voice-based interactions, but its effectiveness is limited in noisy environments. In conventional hardware- and software-based noise reduction approaches, isolating whispered speech…

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…

Based on the recent advancements in representation learning, we propose a novel pipeline for task-oriented voice-controlled robots with raw sensor inputs. Previous methods rely on a large number of labels and task-specific reward functions.…

In this paper, we focus on Whisper, a recent automatic speech recognition model trained with a massive 680k hour labeled speech corpus recorded in diverse conditions. We first show an interesting finding that while Whisper is very robust…

Smart glasses are emerging as a popular wearable computing platform potentially revolutionizing the next generation of human-computer interaction. The widespread adoption of smart glasses has created a pressing need for discreet and…

This work presents a speech-to-text system "Pisets" for scientists and journalists which is based on a three-component architecture aimed at improving speech recognition accuracy while minimizing errors and hallucinations associated with…

Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…

We present an efficient end-to-end approach for holistic Automatic Speaking Assessment (ASA) of multi-part second-language tests, developed for the 2025 Speak & Improve Challenge. Our system's main novelty is the ability to process all four…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…