arXiv subjects

Xiping Sun

Publications and source records attributed to Xiping Sun.

4 recordsLinked to original sources

arXiv2025

A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensors

GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the soft sensor surface, inferring the high-resolution geometry of the objects in contact. However, customizing the sensors for different robot hands requires a tedious trial-and-error process to re-design the optical system. In this paper, we formulate the GelSight sensor design process as a systematic and objective-driven design problem and perform the design optimization with a physically accurate optical simulation. The method is based on modularizing and parameterizing the sensor's optical components and designing four generalizable objective functions to evaluate the sensor. We implement the method with an interactive and easy-to-use toolbox called OptiSense Studio. With the toolbox, non-sensor experts can quickly optimize their sensor design in both forward and inverse ways following our predefined modules and steps. We demonstrate our system with four different GelSight sensors by quickly optimizing their initial design in simulation and transferring it to the real sensors.

cs.RO↗

arXiv2025

Social Gesture Recognition in spHRI: Leveraging Fabric-Based Tactile Sensing on Humanoid Robots

Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture recognition system using a fabric-based, large-scale tactile sensor placed onto the arms of a humanoid robot. We built a social gesture dataset using multiple participants and extracted temporal features for classification. By collecting tactile data on a humanoid robot, our system provides insights into human-robot social touch, and displays that the use of fabric based sensors could be a potential way of advancing the development of spHRI systems for more natural and effective communication.

cs.RO↗

arXiv2024

SCR-Auth: Secure Call Receiver Authentication on Smartphones Using Outer Ear Echoes

Receiving calls is one of the most universal functions of smartphones, involving sensitive information and critical operations. Unfortunately, to prioritize convenience, the current call receiving process bypasses smartphone authentication mechanisms (e.g., passwords, fingerprint recognition, and face recognition), leaving a significant security gap. To address this issue, we propose SCR-Auth, a secure call receiver authentication scheme for smartphones that leverages outer ear echoes. It sends inaudible acoustic signals through the earpiece speaker to actively sense the call receiver's outer ear structure and records the resulting echoes using the top microphone. These echoes are then analyzed to extract unique outer ear biometric information for authentication. It operates implicitly, without requiring extra hardware or imposing additional burden. Comprehensive experiments conducted under diverse conditions demonstrate SCR-Auth's effectiveness and security, showing an average balanced accuracy of 96.95% and resilience against potential attacks.

cs.CR↗

arXiv2024

MagLive: Robust Voice Liveness Detection on Smartphones Using Magnetic Pattern Changes

Voice authentication has been widely used on smartphones. However, it remains vulnerable to spoofing attacks, where the attacker replays recorded voice samples from authentic humans using loudspeakers to bypass the voice authentication system. In this paper, we present MagLive, a robust voice liveness detection scheme designed for smartphones to mitigate such spoofing attacks. MagLive leverages the differences in magnetic pattern changes generated by different speakers (i.e., humans or loudspeakers) when speaking for liveness detection, which are captured by the built-in magnetometer on smartphones. To extract effective and robust magnetic features, MagLive utilizes a TF-CNN-SAF model as the feature extractor, which includes a time-frequency convolutional neural network (TF-CNN) combined with a self-attention-based fusion (SAF) model. Supervised contrastive learning is then employed to achieve user-irrelevance, device-irrelevance, and content-irrelevance. MagLive imposes no additional burden on users and does not rely on active sensing or specialized hardware. We conducted comprehensive experiments with various settings to evaluate the security and robustness of MagLive. Our results demonstrate that MagLive effectively distinguishes between humans and attackers (i.e., loudspeakers), achieving an average balanced accuracy (BAC) of 99.01% and an equal error rate (EER) of 0.77%.

cs.CR↗