相关论文: GRIPP: an automated computer-aided design tool for…
Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully…
The transition towards designs which co-package electronic and photonic die together in data center switch packages has created a scaling path to Petabyte per second (Pbps) input/output (I/O) in such systems. In a co-packaged design, the…
The gradient index phononic crystal (GRIN-PC) lens concept has been proven very effective for focusing elastic waves at a desired location. Although well-studied for planar structures, GRIN-PC lenses for elastic wave focusing in curved…
Graded-index optical elements are capable of shaping light precisely and in very specific ways. While classical freeform optics uses only a two-dimensional domain such as the surface of a lens, recent technological advances in laser…
Generation of dynamic, scalable multi-species bird soundscapes remains a significant challenge in computer music and algorithmic sound design. Birdsongs involve rapid frequency-modulated chirps, complex amplitude envelopes, distinctive…
Online synaptic plasticity rules derived from gradient descent achieve high accuracy on a wide range of practical tasks. However, their software implementation often requires tediously hand-derived gradients or using gradient…
3D ultrasound delivers high-resolution, real-time images of soft tissues, which is essential for pain research. However, manually distinguishing various tissues for quantitative analysis is labor-intensive. To streamline this process, we…
We propose Gradient Informed Neural Networks (GradINNs), a methodology inspired by Physics Informed Neural Networks (PINNs) that can be used to efficiently approximate a wide range of physical systems for which the underlying governing…
The GRadient Ascent Pulse Engineering (GRAPE) method is widely used for optimization in quantum control. GRAPE is gradient search method based on exact expressions for gradient of the control objective. It has been applied to coherently…
In this paper, we present Segmentation-Based Grasp Detection Network (SGDN) to predict a feasible robotic grasping for a unsymmetrical three-finger robotic gripper using RGB images. The feasible grasping of a target should be a collection…
Clipping the gradient is a known approach to improving gradient descent, but requires hand selection of a clipping threshold hyperparameter. We present AutoClip, a simple method for automatically and adaptively choosing a gradient clipping…
Although the iterative reconstruction (IR) algorithm can substantially correct reconstruction artifacts in photoacoustic (PA) computed tomography (PACT), it suffers from long reconstruction times, especially for large-scale…
Generative recommendation (GR) has gained increasing attention for its promising performance compared to traditional models. A key factor contributing to the success of GR is the semantic ID (SID), which converts continuous semantic…
Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better design 3D structures with planar surfaces, realistic models…
We introduce Generative, Adaptive, Context-Aware 3D Printing (GRACE), a novel approach combining 3D imaging, computer vision, and parametric modelling to create tailored, context-aware geometries using volumetric additive manufacturing.…
This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper limb impairments. Operating within a collaborative grasping…
We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent…
Shape optimization approaches to inverse design offer low-dimensional, physically-guided parameterizations of structures by representing them as combinations of shape primitives. However, on discretized rectilinear simulation grids,…