相关论文: LeviCursor: Dexterous Interaction with a Levitatin…

We present a new mouse cursor designed to facilitate the use of the mouse by people with peripheral vision loss. The pointer consists of a collection of converging straight lines covering the whole screen and following the position of the…

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

Interferometric methods for detecting the motion of a levitated nanoparticle provide a route to the quantum ground state, but such methods are currently limited by mode mismatch between the reference beam and the dipolar field scattered by…

We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…

Levitation of optical scatterers provides a new mean to develop free-space volumetric displays. The principle is to illuminate a levitating particle displaced at high velocity in three dimensions (3D) to create images based on persistence…

We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…

Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…

Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible…

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

Levitation optomechanics exploits the unique mechanical properties of trapped nano-objects in vacuum in order to address some of the limitations of clamped nanomechanical resonators. In particular, its performance is foreseen to contribute…

Accurately annotating multiple 3D objects in LiDAR scenes is laborious and challenging. While a few previous studies have attempted to leverage semi-automatic methods for cost-effective bounding box annotation, such methods have limitations…

Optically-levitated dielectric objects are promising for precision force, acceleration, torque, and rotation sensing due to their extreme environmental decoupling. While many levitated opto-mechanics experiments employ spherical objects,…

We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in micro-fluidic devices. The system is…

We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

We investigate dynamics and interactions of particles levitated and trapped by the thermophoretic force in a vacuum cell. Our analysis is based on footage taken by orthogonal cameras that are able to capture the three dimensional…

Accurately observing the rarefied media of the upper atmosphere, exosphere, and planetary and solar system environments and beyond requires highly sensitive metrological techniques. We present the operating concept and architecture of an…