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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…
Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
Speaker localization in a reverberant environment is a fundamental problem in audio signal processing. Many solutions have been developed to tackle this problem. However, previous algorithms typically assume a stationary environment in…
In this paper, we propose novel deep learning based algorithms for multiple sound source localization. Specifically, we aim to find the 2D Cartesian coordinates of multiple sound sources in an enclosed environment by using multiple…
Non-line-of-sight localization in signal-deprived environments is a challenging yet pertinent problem. Acoustic methods in such predominantly indoor scenarios encounter difficulty due to the reverberant nature. In this study, we aim to…
In this paper we address the problems of modeling the acoustic space generated by a full-spectrum sound source and of using the learned model for the localization and separation of multiple sources that simultaneously emit sparse-spectrum…
This work describes and discusses an algorithm submitted to the Sound Event Localization and Detection Task of DCASE2019 Challenge. The proposed methodology relies on parametric spatial audio analysis for source localization and detection,…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Purpose: Surgical scene understanding is key to advancing computer-aided and intelligent surgical systems. Current approaches predominantly rely on visual data or end-to-end learning, which limits fine-grained contextual modeling. This work…
In this paper, we present an acoustic side channel attack which makes use of smartphone microphones recording a robot in operation to exploit acoustic properties of the sound to fingerprint a robot's movements. In this work we consider the…
We introduce Vocal Sandbox, a framework for enabling seamless human-robot collaboration in situated environments. Systems in our framework are characterized by their ability to adapt and continually learn at multiple levels of abstraction…
Developing algorithms for sound classification, detection, and localization requires large amounts of flexible and realistic audio data, especially when leveraging modern machine learning and beamforming techniques. However, most existing…
Speech-to-text capabilities on mobile devices have proven helpful for hearing and speech accessibility, language translation, note-taking, and meeting transcripts. However, our foundational large-scale survey (n=263) shows that the…
Acoustic source localization has been applied in different fields, such as aeronautics and ocean science, generally using multiple microphones array data to reconstruct the source location. However, the model-based beamforming methods fail…
Sound source localization (SSL) adds a spatial dimension to auditory perception, allowing a system to pinpoint the origin of speech, machinery noise, warning tones, or other acoustic events, capabilities that facilitate robot navigation,…
Audio-visual sound source localization task aims to spatially localize sound-making objects within visual scenes by integrating visual and audio cues. However, existing methods struggle with accurately localizing sound-making objects in…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Imagine hearing a dog bark and turning toward the sound only to see a parked car, while the real, silent dog sits elsewhere. Such sensory conflicts test perception, yet humans reliably resolve them by prioritizing sound over misleading…
General-purpose audio representations aim to map acoustically variable instances of the same event to nearby points, resolving content identity in a zero-shot setting. Unlike supervised classification benchmarks that measure adaptability…