19 accepted papers
On-device AI systems increasingly adopt a single foundation model equipped with task-specific Low-Rank Adaptation (LoRA) modules, forming a multi-LoRA LLM that supports multiple tasks.We study how to adapt such a model to a new task on memory-constrainted devices.Although LoRA reduces trainable para
We report a new full-optical pretouch dual-modal and dual-mechanism (PDM2) sensor based on an air-coupled fiber-tip surface micromachined optical ultrasound transducer (SMOUT). Compared to ring-shaped piezoelectric acoustic receivers in previous PDM<sup xmlns:mml="http://www.w3.org/1998/Math/MathML"
High-fidelity personalized human musculoskeletal models are crucial for simulating realistic behavior of physically coupled human-robot interactive systems and verifying their safety-critical applications in simulations before actual deployment, such as human-robot co-transportation and rehabilitati
Transparent household objects present a challenge for domestic service robots, since neither regular cameras nor RGB-D cameras can provide accurate points for shape reconstruction. The new type of pretouch dual-modality distance and material sensor (PDM<sup xmlns:mml="http://www.w3.org/1998/Math/Mat
Despite the growing integration of deep models into mobile terminals, the accuracy of these models declines significantly due to various deployment interferences. Test-time adaptation (TTA) has emerged to improve the performance of deep models by adapting them to unlabeled target data online. Yet, t…
Variable stiffness of a remote robot is crucial for a teleoperation system to deal with challenging tasks. External stiffness command interfaces have emerged as a promising solution to regulating the remote robot stiffness because of the benefits of their accuracy, ergonomics, and avoidance of the “
Video Anomaly Detection (VAD) systems can autonomously monitor and identify disturbances, reducing the need for manual labor and associated costs. However, current VAD systems are often limited by their superficial semantic understanding of scenes and minimal user interaction. Additionally, the prev…
We report a new material and structure mapping (MSM) algorithm to assist robotic grasping and manipulation. Building on our new sensor development, the algorithm has four main components: 1) detection of time-of-flight (ToF) durations for the dual modalities of optoacoustic (OA) and pulse-echo ultra…
The advancement and development of human modeling have greatly benefited from principles used in robotics, for instance, multibody dynamics laid the foundations for physics engines of human movement simulation, and the robotics and control theory were used to contextualize human sensorimotor control
Fingertip-mounted pretouch sensors are very useful for robotic grasping. In this paper, we report a new (G3) dual-modal and dual sensing mechanisms (DMDSM) pretouch sensor for near-distance ranging and material sensing, which is based on pulse-echo ultrasound (US) and optoacoustics (OA). Different f…
To continuously improve robotic grasping, we are interested in developing a contactless fingertip-mounted sensor for near-distance ranging and material sensing. Previously, we demonstrated a dual-modal and dual sensing mechanisms (DMDSM) pretouch sensor prototype based on pulse-echo ultrasound and o…
To improve robotic grasping, we are interested in developing a new non-contact fingertip-mounted sensor for near-distance ranging and material sensing. Here we report new progress in combining direct pulse-echo ultrasound and optoacoustic effects in sensor design to deal with optically and/or acoust…
We report the feasibility study of a new optoacoustic sensor for both near-distance ranging and material thickness classification for robotic grasping. It is based on the optoacoustic effect where focused laser pulses are used to generate wideband ultrasound signals in the target. With a much smalle…
Humans commonly exploit interaction with the environment constraints to assist the execution of the loco-manipulation tasks they perform. One particular example is the exploration of contacts during manipulation to relax the loading of those arm joints that are not directly involved in the generatio…
We report the feasibility study of a new acoustic and optical bi-modal distance & material sensor for robotic grasping. The new sensor is designed to be mounted on the robot fingertip to provide last-moment perception before contact happens. It is based on both pulse-echo ultrasound and optoacoustic…
In this paper, we propose a novel method for selective management of muscle fatigue in human-robot co-manipulation. The proposed framework enables the detection of excessive fatigue levels of an individual muscle group while executing a certain task, and provides anticipatory robotic responses to di…
The endpoint stiffness of the human arm has been long recognized as a key component ensuring the quasi-static stability of the arm physical interactions with the external world. Similarly, the understanding of the joint stiffness behavior can provide complementary insights, e.g., on the underlying s
This paper is motivated by the questions: What would happen if a humanoid robot is put on a Segway? Is it possible for the humanoid robot to use this transportation device that is specifically designed for human? Simulation involving a two-wheeled mobile platform (TWMP) and our humanoid robot COMAN…
Effective and stable execution of a remote manipulation task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and posit…