Event cameras are promising sensors for on-line and real-time vision tasks due to their high temporal resolution, low latency, and redundant static data elimination. Many vision algorithms use some form of spatial convolution (i.e. spatial pattern detection) as a fundamental component. However, additional consideration must be taken for event cameras, as the visual signal is asynchronous and sparse. While elegant methods have been proposed for event-based convolutions, they are unsuitable for real scenarios due to their inefficient processing pipeline and subsequent low event-throughput. This paper presents an efficient implementation based on decoupling the event-based computations from the computationally heavy convolutions, increasing the maximum event processing rate by 15. 92 × to over 10 million events/second, while still maintaining the event-based paradigm of asynchronous input and output. Results on public datasets with modern 640 × 480 event-camera recordings show that the proposed implementation achieves real-time processing with minimal impact on the convolution result, while the prior state-of-the-art results in a latency of over 1 second. @en

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, such as synchronization and coordination of the single-arm policies. This article proposes the safe, interactive movement primitives learning (SIMPLe) algorithm, to teach and correct single or dual arm impedance policies directly from human kinesthetic demonstrations. Moreover, it proposes a novel graph encoding of the policy based on Gaussian process regression where the single-arm motion is guaranteed to converge close to the trajectory and then toward the demonstrated goal. Regulation of the robot stiffness according to the epistemic uncertainty of the policy allows for easily reshaping the motion with human feedback and/or adapting to external perturbations. We tested the SIMPLe algorithm on a real dual-arm setup where the teacher gave separate single-arm demonstrations and then successfully synchronized them only using kinesthetic feedback or where the original bimanual demonstration was locally reshaped to pick a box at a different height.@en