A four-microphone acoustic system with a CNN achieves 14.1-degree mean directional error for continuous in-hand slip estimation and outperforms single-channel baselines.
Maniwav: Learning robot manipulation from in-the-wild audio-visual data
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Introduces the Kaiwu multimodal dataset and framework with 11,664 synchronized assembling demonstrations including hand motions, pressures, sounds, multi-view videos, motion capture, eye gaze, and EMG signals with timestamp-based and semantic annotations.
Training-time instrumentation with audio and privileged button-state signals produces contact policies that match success rates but apply lower forces using only vision and audio at inference.
LingBot-VA combines video world modeling with policy learning via Mixture-of-Transformers, closed-loop rollouts, and asynchronous inference to improve robot manipulation in simulation and real settings.
citing papers explorer
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A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
A four-microphone acoustic system with a CNN achieves 14.1-degree mean directional error for continuous in-hand slip estimation and outperforms single-channel baselines.
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Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction
Introduces the Kaiwu multimodal dataset and framework with 11,664 synchronized assembling demonstrations including hand motions, pressures, sounds, multi-view videos, motion capture, eye gaze, and EMG signals with timestamp-based and semantic annotations.
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You're Pushing My Buttons: Instrumented Learning of Gentle Button Presses
Training-time instrumentation with audio and privileged button-state signals produces contact policies that match success rates but apply lower forces using only vision and audio at inference.
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Causal World Modeling for Robot Control
LingBot-VA combines video world modeling with policy learning via Mixture-of-Transformers, closed-loop rollouts, and asynchronous inference to improve robot manipulation in simulation and real settings.