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 hitting sounds and visual signals within a 3D space using 3D Gaussian Splatting (3DGS). Our approach features two key modules: sound generation and sound localization. The sound generation module leverages a conditional diffusion model, which takes multiscale features rendered from a feature-augmented 3DGS to generate realistic hitting sounds. Meanwhile, the sound localization module enables querying the 3D scene, represented by the feature-augmented 3DGS, to localize hitting positions based on the sound sources. To support this framework, we introduce a novel pipeline for collecting scene-level visual-sound sample pairs, achieving alignment between captured images, impact locations, and corresponding sounds. To the best of our knowledge, this is the first dataset to connect visual and acoustic signals in a 3D context. Extensive experiments on our dataset demonstrate the effectiveness of Visual Acoustic Fields in generating plausible impact sounds and accurately localizing impact sources. Our project page is at https://yuelei0428.github.io/projects/Visual-Acoustic-Fields/.

Objective: Head impact information including impact directions, speeds and force are important to study traumatic brain injury, design and evaluate protective gears. This study presents a deep learning model developed to accurately predict head impact information, including location, speed, orientation, and force, based on head kinematics during helmeted impacts. Methods: Leveraging a dataset of 16,000 simulated helmeted head impacts using the Riddell helmet finite element model, we implemented a Long Short-Term Memory (LSTM) network to process the head kinematics: tri-axial linear accelerations and angular velocities. Results: The models accurately predict the impact parameters describing impact location, direction, speed, and the impact force profile with R2 exceeding 70% for all tasks. Further validation was conducted using an on-field dataset recorded by instrumented mouthguards and videos, consisting of 79 head impacts in which the impact location can be clearly identified. The deep learning model significantly outperformed existing methods, achieving a 79.7% accuracy in identifying impact locations, compared to lower accuracies with traditional methods (the highest accuracy of existing methods is 49.4%). Conclusion: The precision underscores the model's potential in enhancing helmet design and safety in sports by providing more accurate impact data. Future studies should test the models across various helmets and sports on large in vivo datasets to validate the accuracy of the models, employing techniques like transfer learning to broaden its effectiveness.

The use of pointed or edged tools or objects is one of the most challenging aspects of today's application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed impactors is less well studied than for blunt impactors. Consequently, the standards specify well-reasoned force and pressure thresholds for blunt impactors and advise avoiding any edges and corners in contacts. Nevertheless, pointed or edged impactor geometries cannot be completely ruled out in real pHRI applications. For example, to allow edged or pointed tools such as screwdrivers near human operators, the knowledge of injury severity needs to be extended so that robot integrators can perform well-reasoned, time-efficient risk assessments. In this paper, we provide the initial datasets on injury prevention for the human hand based on drop tests with surrogates for the human hand, namely pig claws and chicken drumsticks. We then demonstrate the ease and efficiency of robot use using the dataset for contact on two examples. Finally, our experiments provide a set of injuries that may also be expected for human subjects under certain robot mass-velocity constellations in collisions. To extend this work, testing on human samples and a collaborative effort from research institutes worldwide is needed to create a comprehensive human injury avoidance database for any pHRI scenario and thus for safe pHRI applications including edged and pointed geometries.

This paper introduces the concept of a design tool for artistic performances based on attribute descriptions. To do so, we used a specific performance of falling actions. The platform integrates a novel machine-learning (ML) model with an interactive interface to generate and visualize artistic movements. Our approach's core is a cyclic Attribute-Conditioned Variational Autoencoder (AC-VAE) model developed to address the challenge of capturing and generating realistic 3D human body motions from motion capture (MoCap) data. We created a unique dataset focused on the dynamics of falling movements, characterized by a new ontology that divides motion into three distinct phases: Impact, Glitch, and Fall. The ML model's innovation lies in its ability to learn these phases separately. It is achieved by applying comprehensive data augmentation techniques and an initial pose loss function to generate natural and plausible motion. Our web-based interface provides an intuitive platform for artists to engage with this technology, offering fine-grained control over motion attributes and interactive visualization tools, including a 360-degree view and a dynamic timeline for playback manipulation. Our research paves the way for a future where technology amplifies the creative potential of human expression, making sophisticated motion generation accessible to a wider artistic community.

Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to standard CMOS-based imagers. These properties make them ideal tools for real-time perception tasks in highly dynamic environments. In this work, we demonstrate an application where event cameras excel: accurately estimating the impact location of fast-moving objects. We introduce a lightweight event representation called Binary Event History Image (BEHI) to encode event data at low latency, as well as a learning-based approach that allows real-time inference of a confidence-enabled control signal to the robot. To validate our approach, we present an experimental catching system in which we catch fast-flying ping-pong balls. We show that the system is capable of achieving a success rate of 81% in catching balls targeted at different locations, with a velocity of up to 13 m/s even on compute-constrained embedded platforms such as the Nvidia Jetson NX.

This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than 15m/s. Since conventional image sensors at typical frame rates observe such an object for only a few frames, estimating the underlying motion presents a considerable challenge for standard computer vision systems and algorithms. In this paper we present a method motivated by how animals such as insects solve this problem with their relatively simple vision systems. Our solution takes the event stream from a DVS and first encodes the temporal events with a set of causal exponential filters across multiple time scales. We couple these filters with a Convolutional Neural Network (CNN) to efficiently extract relevant spatiotemporal features. The combined network learns to output both the expected time to collision of the object, as well as the predicted collision point on a discretized polar grid. These critical estimates are computed with minimal delay by the network in order to react appropriately to the incoming object. We highlight the results of our system to a toy dart moving at 23.4m/s with a 24.73{\deg} error in ${\theta}$, 18.4mm average discretized radius prediction error, and 25.03% median time to collision prediction error.