相关论文: GRAINS: Proximity Sensing of Objects in Granular M…
Simulation of the dynamics of physical systems is essential to the development of both science and engineering. Recently there is an increasing interest in learning to simulate the dynamics of physical systems using neural networks.…
We study the hard problem of 3D object segmentation in complex point clouds without requiring human labels of 3D scenes for supervision. By relying on the similarity of pretrained 2D features or external signals such as motion to group 3D…
Machine learning (ML) offers considerable promise for the design of new molecules and materials. In real-world applications, the design problem is often domain-specific, and suffers from insufficient data, particularly labeled data, for ML…
Granular materials are known to separate by size under a variety of circumstances. Experiments presented here and elucidated by modeling and MD simulation document a new segregation mechanism, namely segregation by friction. The experiments…
Granular media surround us, comprising everything from the ground we walk on to the foods we eat. Owing to their ubiquity our ability to understand and predict the mechanical evolution of grains is not only of key scientific importance, but…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Fine-grained object recognition that aims to identify the type of an object among a large number of subcategories is an emerging application with the increasing resolution that exposes new details in image data. Traditional fully supervised…
In this work, we investigate the unjamming transition in a three-dimensional granular system composed of frictional spheres, in which the packing fraction is systematically reduced by random particle extractions. Using Discrete Element…
The drag acting on an intruder in a three-dimensional frictionless dry granular environment is numerically studied. It is found the followings: (i) There is no yield force for the motion of the intruder without the gravity. (ii) The drag is…
Transparent objects are prevalent in everyday environments, but their distinct physical properties pose significant challenges for camera-guided robotic arms. Current research is mainly dependent on camera-only approaches, which often…
Understanding physical properties such as friction, stiffness, hardness, and material composition is essential for enabling robots to interact safely and effectively with their surroundings. However, existing 3D reconstruction methods focus…
Estimating physical properties for visual data is a crucial task in computer vision, graphics, and robotics, underpinning applications such as augmented reality, physical simulation, and robotic grasping. However, this area remains…
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…
Grain boundaries (GBs) are a prolific microstructural feature that dominates the functionality of a wide class of materials. The change in functionality at a GB is a direct result of unique local atomic arrangements, different from those in…
When different radio applications share the same spectrum, the separation by attenuating material is a way to mitigate potential interference. The indoor restriction for WLAN devices in 5150-5350 MHz is an example for a regulatory measure…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…
Granular gases are commonly characterized through their velocity distribution, which provides access to the granular temperature. In experiments, velocity distributions are typically obtained by particle tracking, which however becomes…
Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…
Without requiring objects to carry any transceiver, device-free based object tracking provides a promising solution for many localization and tracking systems to monitor non-cooperative objects such as intruders. However, existing…