arXiv subjects

Emily Ruppel

Publications and source records attributed to Emily Ruppel.

3 recordsLinked to original sources

arXiv2025

LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing

Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such light-contact interactions difficult to perceive robustly. To address this, we present LightTact, a visual-tactile fingertip sensor that makes contact directly visible via a deformation-independent principle. LightTact features an ambient-blocking optical configuration that suppresses both external light and internal illumination at non-contact regions, while transmitting only the scattered light generated at true contacts. As a result, LightTact produces high-contrast raw images in which non-contact pixels remain near-black (mean gray value < 3) and contact pixels preserve the natural appearance of the contacting surface. Built on this, LightTact achieves accurate pixel-level contact segmentation that is robust to material properties, contact force, surface appearance, and environmental lighting. We further demonstrate that LightTact unlocks new robotic manipulation behaviors that require detection of extremely light contact, including water spreading, facial-cream dipping, and soft thin-film interaction. In addition, we show that LightTact's spatially aligned visual-tactile images can be directly interpreted by vision-language models.

cs.RO↗

arXiv2025

Interference-Aware Edge Runtime Prediction with Conformal Matrix Completion

Accurately estimating workload runtime is a longstanding goal in computer systems, and plays a key role in efficient resource provisioning, latency minimization, and various other system management tasks. Runtime prediction is particularly important for managing increasingly complex distributed systems in which more sophisticated processing is pushed to the edge in search of better latency. Previous approaches for runtime prediction in edge systems suffer from poor data efficiency or require intensive instrumentation; these challenges are compounded in heterogeneous edge computing environments, where historical runtime data may be sparsely available and instrumentation is often challenging. Moreover, edge computing environments often feature multi-tenancy due to limited resources at the network edge, potentially leading to interference between workloads and further complicating the runtime prediction problem. Drawing from insights across machine learning and computer systems, we design a matrix factorization-inspired method that generates accurate interference-aware predictions with tight provably-guaranteed uncertainty bounds. We validate our method on a novel WebAssembly runtime dataset collected from 24 unique devices, achieving a prediction error of 5.2% -- 2x better than a naive application of existing methods.

cs.LG↗

arXiv2022

Long-Term Mentoring for Computer Science Researchers

Early in the pandemic, we -- leaders in the research areas of programming languages (PL) and computer architecture (CA) -- realized that we had a problem: the only way to form new lasting connections in the community was to already have lasting connections in the community. Both of our academic communities had wonderful short-term mentoring programs to address this problem, but it was clear that we needed long-term mentoring programs. Those of us in CA approached this scientifically, making an evidence-backed case for community-wide long-term mentoring. In the meantime, one of us in PL had impulsively launched an unofficial long-term mentoring program, founded on chaos and spreadsheets. In January 2021, the latter grew to an official cross-institutional long-term mentoring program called SIGPLAN-M; in January 2022, the former grew to Computer Architecture Long-term Mentoring (CALM). The impacts have been strong: SIGPLAN-M reaches 328 mentees and 234 mentors across 41 countries, and mentees have described it as "life changing" and "a career saver." And while CALM is in its pilot phase -- with 13 mentors and 21 mentees across 7 countries -- it has received very positive feedback. The leaders of SIGPLAN-M and CALM shared our designs, impacts, and challenges along the way. Now, we wish to share those with you. We hope this will kick-start a larger long-term mentoring effort across all of computer science.

cs.CY↗