Abstract: A method of collision localization on a robotic device includes obtaining audio signals from a plurality of acoustic sensors spaced apart along the robotic device; identifying, based on a collision being detected, a strongest audio signal; identifying a primary onset time for an acoustic sensor producing the strongest audio signal, the primary onset time being a time at which waves propagating from the collision reach the acoustic sensor producing the strongest audio signal; generating a virtual onset time set, by shifting a calibration manifold, based on the identified primary onset time, the calibration manifold representing relative onset times from evenly spaced marker locations on the robotic device to the plurality of acoustic sensors; determining scores for the marker locations based a standard deviation of elements in the virtual onset time set; and estimating a location of the collision based on a highest score of the determined scores.

Abstract: A tool control system may include: a tactile sensor configured to, when a tool holds a target object and slides the target object downward across the tool, obtain tactile sensing data from the tool; one or more memories configured to store a target velocity and computer-readable instructions; and one or more processors configured execute the computer-readable instructions to: receive the tactile sensing data from the tactile sensor; estimate a velocity of the target object based on the tactile sensing data, by using one or more neural networks that are trained based on a training image of an sample object captured while the sample object is sliding down; and generate a control parameter of the tool based on the estimated velocity and the target velocity.