相关论文: Learning to See Inside Opaque Liquid Containers us…
We introduce latent intuitive physics, a transfer learning framework for physics simulation that can infer hidden properties of fluids from a single 3D video and simulate the observed fluid in novel scenes. Our key insight is to use latent…
Optomechanical systems are a promising candidate for the implementation of quantum interfaces for storing and redistributing quantum information. Here we focus on the case of a high-finesse optical cavity with a thin vibrating…
Detecting leaks in water networks is a costly challenge. This article introduces a practical solution: the integration of optical network with water networks for efficient leak detection. Our approach uses a fiber-optic cable to measure…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
We report a weighing metrology experiment of a single silica microsphere optically trapped and immersed in air. Based on fluctuations about thermal equilibrium, three different mass measurements are investigated, each arising from one of…
Physics perception very often faces the problem that only limited data or partial measurements on the scene are available. In this work, we propose a strategy to learn the full state of sloshing liquids from measurements of the free…
Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…
Different types of liquids such as water, wine and medicine appear in all aspects of daily life. However, limited attention has been given to the task, hindering the ability of robots to avoid or interact with liquids safely. The…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
The history of computing started with analog computers consisting of physical devices performing specialized functions such as predicting the trajectory of cannon balls. In modern times, this idea has been extended, for example, to…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…
In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on…
In this paper, we define a new problem of recovering the 3D geometry of an object confined in a transparent enclosure. We also propose a novel method for solving this challenging problem. Transparent enclosures pose challenges of multiple…
We present the first system to determine fluid properties using the LiDAR sensors present on modern smartphones. Traditional methods of measuring properties like viscosity require expensive laboratory equipment or a relatively large amount…
Visual sensation and perception refers to the process of sensing, organizing, identifying, and interpreting visual information in environmental awareness and understanding. Computational models inspired by visual perception have the…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
For a transparent well with a known volume capacity, changes in fluid level result in predictable changes in magnification of an overhead light source. For a given well size and fluid, the relationship between volume and magnification can…
Scattering obscures information carried by wave by producing a speckle pattern, posing a common challenge across various fields, including microscopy and astronomy. Traditional methods for extracting information from speckles often rely on…