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Vision-Language Model-based Physical Reasoning for Robot Liquid Perception
Apr 10, 2024
There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an open challenge as they can only process textual input. Recent advancements in large vision-language models (LVLMs) have enabled a more comprehensive understanding of the physical world by incorporating visual input, which provides richer contextual information than language alone. In this work, we proposed a novel paradigm that leveraged GPT-4V(ision), the state-of-the-art LVLM by OpenAI, to enable embodied agents to perceive liquid objects via image-based environmental feedback. Specifically, we exploited the physical understanding of GPT-4V to interpret the visual representation (e.g., time-series plot) of non-visual feedback (e.g., F/T sensor data), indirectly enabling multimodal perception beyond vision and language using images as proxies. We evaluated our method using 10 common household liquids with containers of various geometry and material. Without any training or fine-tuning, we demonstrated that our method can enable the robot to indirectly perceive the physical response of liquids and estimate their viscosity. We also showed that by jointly reasoning over the visual and physical attributes learned through interactions, our method could recognize liquid objects in the absence of strong visual cues (e.g., container labels with legible text or symbols), increasing the accuracy from 69.0% -- achieved by the best-performing vision-only variant -- to 86.0%.
Knowledge Distilled Ensemble Model for sEMG-based Silent Speech Interface
Aug 07, 2023Voice disorders affect millions of people worldwide. Surface electromyography-based Silent Speech Interfaces (sEMG-based SSIs) have been explored as a potential solution for decades. However, previous works were limited by small vocabularies and manually extracted features from raw data. To address these limitations, we propose a lightweight deep learning knowledge-distilled ensemble model for sEMG-based SSI (KDE-SSI). Our model can classify a 26 NATO phonetic alphabets dataset with 3900 data samples, enabling the unambiguous generation of any English word through spelling. Extensive experiments validate the effectiveness of KDE-SSI, achieving a test accuracy of 85.9\%. Our findings also shed light on an end-to-end system for portable, practical equipment.