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Forecast verification plays a crucial role in the development cycle of operational numerical weather prediction models. At the same time, verification remains a challenge as the traditionally used non-spatial forecast quality metrics…
Experimental methods allow the shape and chemical composition of solid surfaces to be controlled at a mesoscopic level. Exposing such structured substrates to a gas close to coexistence with its liquid can produce quite distinct adsorption…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
The transport of small quantities of liquid on a solid surface is inhibited by the resistance to motion caused by the contact between the liquid and the solid. To overcome such resistance, motion can be externally driven through gradients…
The shape of liquid surface in a rotating frame depends on the angular velocity. In this experiment, a fluid in a rectangular container with a small width is placed on a rotating table. A smartphone fixed to the rotating frame…
We study the properties and symmetries governing the hydrodynamic interaction between two identical, arbitrarily shaped objects, driven through a viscous fluid. We treat analytically the leading (dipolar) terms of the pair-mobility matrix,…
Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous…
The surface texture of materials plays a critical role in wettability, turbulence and transport phenomena. In order to design surfaces for these applications, it is desirable to characterise non-smooth and porous materials by their ability…
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers mounted along a robot arm to gather sensory data as they…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
A mathematical smooth function means that the function has continuous derivatives to a certain degree C(k). We call it a k-smooth function or a smooth function if k can grow infinitively. Based on quantum physics, there is no such smooth…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
The formation of periodic wrinkles in soft layered materials due to mechanical instabilities is prevalent in nature and has been proposed for use in multiple applications. However, such phenomena have been explored predominantly in…
Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…
Many statistical and machine learning approaches rely on pairwise distances between data points. The choice of distance metric has a fundamental impact on performance of these procedures, raising questions about how to appropriately…
Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…
The trajectory of a spherical object which falls freely in a gravitational field is fixed by its initial position and velocity. However, an object which can control its shape can also control its motion: Except where forbidden by symmetries…