Related papers: A smart granular intruder
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
Chiral active materials are abundant in nature, including the cytoskeleton with attached motor proteins, rotary clusters of bacteria flagella, and self-spinning starfish embryos. These materials break both time reversal and mirror-image…
Robustness against small perturbations is a crucial feature of topological properties. This robustness is both a source of theoretical interest and a drive for technological applications, but presents a challenge when looking for new…
When a large blunt object penetrates into a granular material, the force response exhibits an initial nonlinear relationship with depth that is widely attributed to the formation of a shear jammed stagnant zone. We present an experimental…
We present a qualitatively new mechanism for dynamical spontaneous breakdown of supersymmetry in supergravity. Specifically, we construct a modified formulation of standard minimal N=1 supergravity as well as of anti-de Sitter supergravity…
We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…
One of the strategies to detect the pose and shape of unknown objects is their geometric modeling, consisting on fitting known geometric entities. Classical geometric modeling fits simple shapes such as spheres or cylinders, but often those…
Glide symmetry offers new degrees of freedom to engineer the properties of periodic structures, and thus it has been exploited in various electromagnetic structures. However, so far there has been little exploration on the impact that glide…
Particle dampers represent a simple yet effective means to reduce unwanted oscillations when attached to structural components. Powder bed fusion additive manufacturing of metals allows to integrate particle inclusions of arbitrary shape,…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
Recent experiments and numerical simulations have shown that certain types of microorganisms "reflect" off of a flat surface at a critical angle of departure, independent of the angle of incidence. The nature of the reflection may be active…
By introducing a concept of "minifying layer", we propose a universal device to hide the position of an object by shifting its scattering without scaling effect for a distance, independent of the direction of incident wave and observation.…
Predicting the large-amplitude deformations of thin elastic sheets is difficult due to the complications of self-contact, geometric nonlinearities, and a multitude of low-lying energy states. We study a simple two-dimensional setting where…
Learning a latent embedding to understand the underlying nature of data distribution is often formulated in Euclidean spaces with zero curvature. However, the success of the geometry constraints, posed in the embedding space, indicates that…
Fine-tuning aligned language models on benign tasks unpredictably degrades safety guardrails, even when training data contains no harmful content and developers have no adversarial intent. We show that the prevailing explanation, that…
We introduce Dynamic Tiling, a model-agnostic, adaptive, and scalable approach for small object detection, anchored in our inference-data-centric philosophy. Dynamic Tiling starts with non-overlapping tiles for initial detections and…
We investigate experimentally the dynamics of an intruder dragged by a constant force in an assembly of horizontally vibrated grains close to jamming. At moderate packing fractions, the intruder moves rapidly as soon as the force is…
The inelastic incompressibility is a typical feature of metal plasticity/viscoplasticity. Over the last decade, there has been a great amount of research related to construction of numerical integration algorithms which exactly preserve…
Biological and biomimetic membranes often contain aggregates of embedded or adsorbed macromolecules. In this article, the indirect interactions of cylindrical objects adhering to a planar membrane are considered theoretically. The adhesion…