Related papers: Navigation and 3D Surface Reconstruction from Pass…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…
Exploiting wavefront curvature enables localization with limited infrastructure and hardware complexity. With the introduction of reconfigurable intelligent surfaces (RISs), new opportunities arise, in particular when the RIS is functioning…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Poisson surface reconstruction (PSR) remains a popular technique for reconstructing watertight surfaces from 3D point samples thanks to its efficiency, simplicity, and robustness. Yet, the existing PSR method and subsequent variants work…
Amodal sensing is critical for various real-world sensing applications because it can recover the complete shapes of partially occluded objects in complex environments. Among various amodal sensing paradigms, wireless amodal sensing is a…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
In this paper, we focus on radar imaging using active sensing with a single transceiver and reconfigurable intelligent surface (RIS). RISs are arrays with tunable passive phase shifter elements that can modify the propagation channel. The…
Reconfigurable intelligent surface (RIS)-aided localization in the radiating near-field requires range-aware spherical-wave models, which inherently couple angles and ranges and thus complicate accurate 3D positioning. Using the Fresnel…
Curved reconfigurable intelligent surfaces (RISs) represent a promising frontier for next-generation wireless communication, enabling adaptive wavefront control on nonplanar platforms such as unmanned aerial vehicles and urban…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
The emerging immersive and autonomous services have posed stringent requirements on both communications and localization. By considering the great potential of reconfigurable intelligent surface (RIS), this paper focuses on the joint…
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
Poisson Surface Reconstruction is a widely-used algorithm for reconstructing a surface from an oriented point cloud. To facilitate applications where only partial surface information is available, or scanning is performed sequentially, a…
High-resolution (HR) contact surface information is essential for robotic grasping and precise manipulation tasks. However, it remains a challenge for current taxel-based sensors to obtain HR tactile information. In this paper, we focus on…
The advantages of millimeter-wave and large antenna arrays technologies for accurate wireless localization received extensive attentions recently. However, how to further improve the accuracy of wireless localization, even in the case of…