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Optical metasurfaces have been heralded as the platform to integrate multiple functionalities in a compact form-factor, potentially replacing bulky components. A central stepping stone towards realizing this promise is the demonstration of…
Light projection is a powerful technique to edit appearances of objects in the real world. Based on pixel-wise modification of light transport, previous techniques have successfully modified static surface properties such as surface color,…
Cavity array metamaterials (CAMs), composed of optical microcavities in a lattice coupled via tight-binding interactions, represent a novel architecture for engineering metamaterials. Since the size of the CAMs' constituent elements are…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
We present a method for compositing virtual objects into a photograph such that the object colors appear to have been processed by the photo's camera imaging pipeline. Compositing in such a camera-aware manner is essential for high realism,…
Transformation optics (TO) has recently become a useful methodology in the design of unusual optical devices, such as novel metamaterial lenses and invisibility cloaks. Very recently Danner et al. [1] have suggested theoretical extension of…
Transformation optics (TO) has been used to propose various novel optical devices. With the help of metamaterials, several intriguing designs, such as invisibility cloaks, have been implemented. However, as the basic units should be much…
We demonstrate three simple cloaking devices that can hide very large spatial objects over the entire visible spectrum using only passive, off-the-shelf optics. The cloaked region for all of the devices exceeds 10^6 mm3 with the largest…
In this letter, we show that a perfect lens can be employed to make multiple objects appear like only one in the far field, leading to a new concept of illusion optics. Numerical simulations are performed to verify the functionalities for…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
We investigate the potential of transformation optics for the design of novel electromagnetic cavities. First, we determine the dispersion relation of bound modes in a device performing an arbitrary radial coordinate transformation and we…
General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
The implicit convex feasibility problem attempts to find a point in the intersection of a finite family of convex sets, some of which are not explicitly determined but may vary. We develop simultaneous and sequential projection methods…
Optical metamaterials capture the imagination with breathtaking promises of nanoscale resolution in imaging and invisibility cloaking. We demonstrate an approach to construct a metamaterial in which metallic nanorods, of dimension much…
All the thermal cloaks reported in the literature can be used to thermally hide an object inside the cloak. However, a common limitation of this kind of thermal cloaks is that the cloaked object cannot feel the external heat flow since it…
Invisibility cloak capable of hiding an object can be achieved by properly manipulating electromagnetic field. Such a remarkable ability has been shown in transformation and ray optics. Alternatively, it may be realistic to create a spatial…
Spatial coordinate transformation is a suitable tool for the design of complex electromagnetic structures. In this paper, we define three spatial coordinate transformations which show the possibility of designing a taper between two…