14 accepted papers
Visuotactile sensors can provide rich contact information for robots. However, how to build a high-fidelity visuotactile simulator that supports multi-mode tactile imprints and various sensor configurations remains a challenging problem. In this paper, we present TacFlex, a flexible simulator for vi…
The integration of origami structures into soft robotics has enriched the adaptability and functionality of the soft robots. Our research group has developed a cable-driven origami robot attached to an arc frame, which enables its deployment in an MR bore and manipulation of medical tools. However,
The embodiment of emotional reactions from body parts contains rich information about our affective experiences. We propose a framework that utilizes state-of-the-art large vision language models (LVLMs) to generate Embodied LVLM Emotion Narratives (ELENA). These are well-defined, multi-layered text
Emotions manifest through physical experiences and bodily reactions, yet identifying such embodied emotions in text remains understudied. We present an embodied emotion classification dataset, CHEER-Ekman, extending the existing binary embodied emotion dataset with Ekman’s six basic emotion categori…
Metonymy plays an important role in our daily communication. People naturally think about things using their most salient properties or commonly related concepts. For example, by saying “The bus decided to skip our stop today,” we actually mean that the bus driver made the decision, not the bus. Pri…
We investigate whether large language models encode latent knowledge of frame semantics, focusing on frame identification, a core challenge in frame semantic parsing that involves selecting the appropriate semantic frame for a target word in context. Using the FrameNet lexical resource, we evaluate
Large language models (LLMs) have demonstrated remarkable reasoning capabilities. However, in real-world robotic tasks, LLMs face grounding issues and lack precise feedback, resulting in the generated solutions deviating from the actual situation. In this paper, we propose Double-Feedback, a method
We introduce GuessingGame, a protocol for evaluating large language models (LLMs) as strategic question-askers in open-ended, open-domain settings. A Guesser LLM identifies a hidden object by posing free-form questions to an Oracle—without predefined choices or candidate lists. To measure question q
Humans frequently experience emotions. When emotions arise, they affect not only our mental state but can also change our physical state. For example, we often open our eyes wide when we are surprised, or clap our hands when we feel excited. Physical manifestations of emotions are referred to as emb…
To complete tasks in dynamic environments, robots need to timely update their plans to react to environment changes. Traditional stripe-like or learning-based planners struggle to achieve this due to their high reliance on meticulously predefined planning rules or labeled data. Fortunately, recent w
Since the introduction of Transformers, researchers have tackled the notoriously expensive quadratic complexity problem. While significant computational efficiency improvements have been achieved, they come at the cost of reduced accuracy trade-offs. In this paper, we propose Composite Slice Transf…
Situation recognition is the task of recognizing the activity depictedin an image, including the people and objects involved. Previousmodels for this task typically train a classifier to identify theactivity using a backbone image feature extractor. We propose thatcommonsense knowledge about the obj…
Commonsense knowledge about the typicalfunctions of physical objects allows people tomake inferences during sentence understanding.For example, we infer that “Sam enjoyedthe book” means that Sam enjoyed reading thebook, even though the action is implicit. Priorresearch has focused on learning the pr…
Humans create things for a reason. Ancient people created spears for hunting, knives for cutting meat, pots for preparing food, etc. The prototypical function of a physical artifact is a kind of commonsense knowledge that we rely on to understand natural language. For example, if someone says “She b…