相关论文: Clink! Chop! Thud! -- Learning Object Sounds from …

Object shape is a key cue that contributes to the semantic understanding of objects. In this work we focus on the categorization of real-world object point clouds to particular shape types. Therein surface description and representation of…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

Sustained contact interactions like scraping and rolling produce a wide variety of sounds. Previous studies have explored ways to synthesize these sounds efficiently and intuitively but could not fully mimic the rich structure of real…

Objects produce different sounds when hit, and humans can intuitively infer how an object might sound based on its appearance and material properties. Inspired by this intuition, we propose Visual Acoustic Fields, a framework that bridges…

Human activity recognition is typically addressed by detecting key concepts like global and local motion, features related to object classes present in the scene, as well as features related to the global context. The next open challenges…

Human brain is continuously inundated with the multisensory information and their complex interactions coming from the outside world at any given moment. Such information is automatically analyzed by binding or segregating in our brain.…

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…

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…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

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…

Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…

This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions.…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation…

Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…

Humans possess a remarkable ability to integrate auditory and visual information, enabling a deeper understanding of the surrounding environment. This early fusion of audio and visual cues, demonstrated through cognitive psychology and…

Learning how to localize and separate individual object sounds in the audio channel of the video is a difficult task. Current state-of-the-art methods predict audio masks from artificially mixed spectrograms, known as Mix-and-Separate…

Humans can discern scene-independent features of objects across various environments, allowing them to swiftly identify objects amidst changing factors such as lighting, perspective, size, and position and imagine the complete images of the…

In this paper our objectives are, first, networks that can embed audio and visual inputs into a common space that is suitable for cross-modal retrieval; and second, a network that can localize the object that sounds in an image, given the…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…