相关论文: HomeEmergency -- Using Audio to Find and Respond t…
Existing household robots have made significant progress in performing routine tasks, such as cleaning floors or delivering objects. However, a key limitation of these robots is their inability to recognize potential problems or dangers in…
Home robots intend to make their users lives easier. Our work assists in this goal by enabling robots to inform their users of dangerous or unsanitary anomalies in their home. Some examples of these anomalies include the user leaving their…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
Environmental sound scene and sound event recognition is important for the recognition of suspicious events in indoor and outdoor environments (such as nurseries, smart homes, nursing homes, etc.) and is a fundamental task involved in many…
The way an object looks and sounds provide complementary reflections of its physical properties. In many settings cues from vision and audition arrive asynchronously but must be integrated, as when we hear an object dropped on the floor and…
Recent advances in low-cost microcontrollers have enabled innovative smart home applications. However, existing systems typically consist of single-purpose devices that only report sensed data to a controller. Given the potential for…
There has been a plethora of work towards improving robot perception and navigation, yet their application in hazardous environments, like during a fire or an earthquake, is still at a nascent stage. We hypothesize two key challenges here:…
This paper presents a residential audio dataset to support sound event detection research for smart home applications aimed at promoting wellbeing for older adults. The dataset is constructed by deploying audio recording systems in the…
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…
The goal of acoustic (or sound) events detection (AED or SED) is to predict the temporal position of target events in given audio segments. This task plays a significant role in safety monitoring, acoustic early warning and other scenarios.…
Current robot platforms are being employed to collaborate with humans in a wide range of domestic and industrial tasks. These environments require autonomous systems that are able to classify and communicate anomalous situations such as…
This work aims to advance sound event detection (SED) research by presenting a new large language model (LLM)-powered dataset namely wild domestic environment sound event detection (WildDESED). It is crafted as an extension to the original…
The rapid evolution of embodied agents has accelerated the deployment of household robots in real-world environments. However, unlike structured industrial settings, household spaces introduce unpredictable safety risks, where system…
In this work we apply deep reinforcement learning to the problems of navigating a three-dimensional environment and inferring the locations of human speaker audio sources within, in the case where the only available information is the raw…
Smart home environments equipped with distributed sensor networks are capable of helping people by providing services related to health, emergency detection or daily routine management. A backbone to these systems relies often on the…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Emergency response management (ERM) is a challenge faced by communities across the globe. First responders must respond to various incidents, such as fires, traffic accidents, and medical emergencies. They must respond quickly to incidents…
This paper proposes a real-time system integrating an acoustic material estimation from visual appearance and an on-the-fly mapping in the 3-dimension. The proposed method estimates the acoustic materials of surroundings in indoor scenes…
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…
The large number and scale of natural and man-made disasters have led to an urgent demand for technologies that enhance the safety and efficiency of search and rescue teams. Semi-autonomous rescue robots are beneficial, especially when…