Related papers: GRIPP: an automated computer-aided design tool for…
In medical imaging, access to data is commonly limited due to patient privacy restrictions and the issue that it can be difficult to acquire enough data in the case of rare diseases.[1] The purpose of this investigation was to develop a…
Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…
In this paper, we consider a single-anchor localization system assisted by a reconfigurable intelligent surface (RIS), where the objective is to localize multiple user equipments (UEs) placed in the radiative near-field region of the RIS by…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
The rapid advancement of generative models has made real and synthetic images increasingly indistinguishable. Although extensive efforts have been devoted to detecting AI-generated images, out-of-distribution generalization remains a…
High index optical waveguide devices such as slab waveguides, strip waveguides and fibers play extremely important roles in a wide range of modern applications including telecommunications, sensing, lasing, interferometry, and resonant…
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable…
3D Gaussian Splatting has advanced radiance field reconstruction, enabling high-quality view synthesis and fast rendering in 3D modeling. While adversarial attacks on object detection models are well-studied for 2D images, their impact on…
Realistic sound is essential in virtual environments, such as computer games and mixed reality. Efficient and accurate numerical methods for pre-calculating acoustics have been developed over the last decade; however, pre-calculating…
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
We propose a sparse grids based adaptive noise reduction strategy for electrostatic particle-in-cell (PIC) simulations. Our approach is based on the key idea of relying on sparse grids instead of a regular grid in order to increase the…
High-resolution mapping of fine particulate matter (PM2.5) is a cornerstone of sustainable urbanism but remains critically hindered by the spatial sparsity of ground monitoring networks. While traditional data-driven methods attempt to…
Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
Gradient Ascent Pulse Engineering (GRAPE) is a popular technique in quantum optimal control, and can be combined with automatic differentiation (AD) to facilitate on-the-fly evaluation of cost-function gradients. We illustrate that the…
Optimizing shapes and topology of physical devices is crucial for both scientific and technological advancements, given its wide-ranging implications across numerous industries and research areas. Innovations in shape and topology…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…