Slip detection is fundamental to dexterous manipulation, yet existing systems often lack precise characterization of detection latency and cross-platform generalization. We present SlipSense, a multimodal tactile slip-detection framework built on TacV5, a compact sensor integrating a $32 \times 32$ piezoresistive array operating at 240 Hz and a 3-axis MEMS accelerometer operating at 8 kHz. The piezoresistive array captures spatial pressure distributions, while the accelerometer captures friction-induced vibrations, providing complementary slip cues. The framework performs modality-specific encoding, intra-sensor fusion, and cross-modal attention with causal temporal prediction at 240 Hz. Experiments on a dataset of 1.4 million frames spanning 37 objects demonstrate the complementarity of the two modalities. SlipSense achieves 96.7% Macro F1 with a false-positive rate below 1.6%, detecting 76% of slip events within 23.1 ms. When trained solely on UMI data, SlipSense generalizes zero-shot to a Tesollo dexterous hand, transferring across unseen objects, distinct sensor units, and robotic platforms without retraining.
The results indicate that software engineering work practices are chosen opportunistically, adapted and configured to provide value under the constrains imposed by the startup context.
Nicolò Paternoster, Carmine Giardino, M. Unterkalmsteiner et al.· Information and Software Tec...· 394 citations· ⚡54
The possibility of inferring high-dimensional data inference in a model that consists of a prior and an auxiliary differentiable constraint given some additional information is considered, thereby allowing a range of potential applications in adapting models to new domains and tasks.
Alexandros Graikos, Esmeralda S. Whitammer, N. Jojic et al.· Neural Information Processin...· 316 citations· ⚡15
It is proved that any global minimizer of the trajectory balance objective can define a policy that samples exactly from the target distribution, and empirically demonstrate the benefits of the trajectories balance objective for GFlowNet convergence, diversity of generated samples, and robustness to long action sequenc...
Esmeralda S. Whitammer, Moksh Jain, Emmanuel Bengio et al.· Neural Information Processin...· 302 citations· ⚡60
GAOKAO-Bench is introduced, an intuitive benchmark that employs questions from the Chinese GAOKAO examination as test samples, including both subjective and objective questions that contribute a robust evaluation benchmark for future large language models and offers valuable insights into the advantages and limitations...
Xiaotian Zhang, Chun-yan Li, Yi Zong et al.· arXiv.org· 216 citations· ⚡17
This state-of-practice investigation was performed using a literature review followed by a multiple-case study approach and presents how inconsistency between managerial strategies and execution can lead to failure by means of a behavioral framework.
Carmine Giardino, Xiaofeng Wang, P. Abrahamsson· International Conference on...· 175 citations· ⚡19
This work investigates the possibilities of using LLMs in a resume screening setting via a document retrieval framework that simulates job candidate selection and finds that the MTEs are biased, significantly favoring White-associated names in 85% of cases and female-associated names in only 11.1% of cases.
Professor Sherry Turkle’s new book, “Artificial Intimacy,” offers a withering critique of chatbots and the antisocial dynamics she believes they encourage.
