Related papers: LeviCursor: Dexterous Interaction with a Levitatin…
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…
When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynamics from observations requires large amounts of data. We…
We present Plane-Casting, a novel technique for 3D object manipulation from a distance that is especially suitable for smartphones. We describe two variations of Plane-Casting, Pivot and Free Plane-Casting, and present results from a pilot…
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a…
The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions…
We present a deep-learning based tracking objects of interest in walking droplet and granular intruder experiments. In a typical walking droplet experiment, a liquid droplet, known as \textit{walker}, propels itself laterally on the free…
Filmmaking and animation production often require sophisticated techniques for coordinating camera transitions and object movements, typically involving labor-intensive real-world capturing. Despite advancements in generative AI for video…
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based particle simulator built on a single transformer architecture to…
Levitated dielectric particles in a vacuum have emerged as a new platform in quantum science, with applications ranging from precision acceleration and force sensing to testing quantum physics beyond the microscopic domain. Traditionally,…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Computing the relative motion of objects is an important navigation task that we routinely perform by relying on inherently unreliable biological cells in the retina. The non-linear and adaptive response of memristive devices make them…
We propose a geometric perspective to describe the motion of self-propelled particles moving at constant speed in d dimensions. We exploit the fact that the vector that conveys the direction of motion of the particle performs a random walk…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
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…
Dynamic scene reconstruction is a long-term challenge in the field of 3D vision. Recently, the emergence of 3D Gaussian Splatting has provided new insights into this problem. Although subsequent efforts rapidly extend static 3D Gaussian to…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
We measure the deformation of particles made of several slender arms in a two-dimensional (2D) linear shear and a three-dimensional (3D) turbulent flow. We show how these measurements of arm deformations along with the rotation rate of the…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…