相关论文: Resource-Efficient Gesture Recognition through Con…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Many high-performance networks were not designed with lightweight application scenarios in mind from the outset, which has greatly restricted their scope of application. This paper takes ConvNeXt as the research object and significantly…

Embodied reference understanding is crucial for intelligent agents to predict referents based on human intention through gesture signals and language descriptions. This paper introduces the Attention-Dynamic DINO, a novel framework designed…

Due to the depth degradation effect in residual connections, many efficient Vision Transformers models that rely on stacking layers for information exchange often fail to form sufficient information mixing, leading to unnatural visual…

Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…

Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for…

In sparse target inference problems it has been shown that significant gains can be achieved by adaptive sensing using convex criteria. We generalize previous work on adaptive sensing to (a) include multiple classes of targets with…

Equivariance to symmetries has proven to be a powerful inductive bias in deep learning research. Recent works on mesh processing have concentrated on various kinds of natural symmetries, including translations, rotations, scaling, node…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…

The key task of machine learning is to minimize the loss function that measures the model fit to the training data. The numerical methods to do this efficiently depend on the properties of the loss function. The most decisive among these…

Haptic sciences and technologies benefit greatly from comprehensive datasets that capture tactile stimuli under controlled, systematic conditions. However, existing haptic datasets collect data through uncontrolled exploration, which…

This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…

While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboration (HRC), this paper explores deep learning methods relying solely on a robot's built-in joint sensors, eliminating the need for…

Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile…

Recognizing human activities in a sequence is a challenging area of research in ubiquitous computing. Most approaches use a fixed size sliding window over consecutive samples to extract features---either handcrafted or learned…

Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…

We propose a novel weakly supervised discriminative algorithm for learning context specific registration metrics as a linear combination of conventional similarity measures. Conventional metrics have been extensively used over the past two…

Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…