See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we systematically study how visual, auditory, and tactile perception can jointly help robots to solve complex manipulation tasks. We build a robot system that can see with a camera, hear with a contact microphone, and feel with a vision-based tactile sensor, with all three sensory modalities fused with a self-attention model. Results on two challenging tasks, dense packing and pouring, demonstrate the necessity and power of multisensory perception for robotic manipulation: vision displays the global status of the robot but can often suffer from occlusion, audio provides immediate feedback of key moments that are even invisible, and touch offers precise local geometry for decision making. Leveraging all three modalities, our robotic system significantly outperforms prior methods.

EDAssistant: Supporting Exploratory Data Analysis in Computational Notebooks with In-Situ Code Search and Recommendation

Using computational notebooks (e.g., Jupyter Notebook), data scientists rationalize their exploratory data analysis (EDA) based on their prior experience and external knowledge such as online examples. For novices or data scientists who lack specific knowledge about the dataset or problem to investigate, effectively obtaining and understanding the external information is critical to carry out EDA. This paper presents EDAssistant, a JupyterLab extension that supports EDA with in-situ search of example notebooks and recommendation of useful APIs, powered by novel interactive visualization of search results. The code search and recommendation are enabled by state-of-the-art machine learning models, trained on a large corpus of EDA notebooks collected online. A user study is conducted to investigate both EDAssistant and data scientists' current practice (i.e., using external search engines). The results demonstrate the effectiveness and usefulness of EDAssistant, and participants appreciated its smooth and in-context support of EDA. We also report several design implications regarding code recommendation tools.