Search

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. It is necessary to follow the principle of Distant Mobility, Close Grasping(DMCG) in holistic control. We propose Embodied Holistic Control for Mobile Manipulation(EHC-MM) with the embodied function of sig(w): By formulating the DMCG principle as a Quadratic Programming (QP) problem, sig(w) dynamically balances the robot's emphasis between movement and manipulation with the consideration of the robot's state and environment. In addition, we propose the Monitor-Position-Based Servoing (MPBS) with sig(w), enabling the tracking of the target during the operation. This approach allows coordinated control between the robot's base, arm, and camera. Through extensive simulations and real-world experiments, our approach significantly improves both the success rate and efficiency of mobile manipulation tasks, achieving a 95.6% success rate in the real-world scenarios and a 52.8% increase in time efficiency., Comment: 7 pages, 6 figures, 4 tables

Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the development of robotics from environment exploration to dexterous operation. Over the years, several reviews on visuotactile sensors for robots have been presented, but few of them discussed the significance of signal processing methods to visuotactile sensors. Apart from ingenious hardware design, the full potential of the sensory system toward designated tasks can only be released with the appropriate signal processing methods. Therefore, this paper provides a comprehensive review of visuotactile sensors from the perspective of signal processing methods and outlooks possible future research directions for visuotactile sensors., Comment: Accepted by IEEE Journal of Selected Topics in Signal Processing

Touch holds a pivotal position in enhancing the perceptual and interactive capabilities of both humans and robots. Despite its significance, current tactile research mainly focuses on visual and tactile modalities, overlooking the language domain. Inspired by this, we construct Touch100k, a paired touch-language-vision dataset at the scale of 100k, featuring tactile sensation descriptions in multiple granularities (i.e., sentence-level natural expressions with rich semantics, including contextual and dynamic relationships, and phrase-level descriptions capturing the key features of tactile sensations). Based on the dataset, we propose a pre-training method, Touch-Language-Vision Representation Learning through Curriculum Linking (TLV-Link, for short), inspired by the concept of curriculum learning. TLV-Link aims to learn a tactile representation for the GelSight sensor and capture the relationship between tactile, language, and visual modalities. We evaluate our representation's performance across two task categories (namely, material property identification and robot grasping prediction), focusing on tactile representation and zero-shot touch understanding. The experimental evaluation showcases the effectiveness of our representation. By enabling TLV-Link to achieve substantial improvements and establish a new state-of-the-art in touch-centric multimodal representation learning, Touch100k demonstrates its value as a valuable resource for research. Project page: https://cocacola-lab.github.io/Touch100k/.

The Transformer model, initially achieving significant success in the field of natural language processing, has recently shown great potential in the application of tactile perception. This review aims to comprehensively outline the application and development of Transformers in tactile technology. We first introduce the two fundamental concepts behind the success of the Transformer: the self-attention mechanism and large-scale pre-training. Then, we delve into the application of Transformers in various tactile tasks, including but not limited to object recognition, cross-modal generation, and object manipulation, offering a concise summary of the core methodologies, performance benchmarks, and design highlights. Finally, we suggest potential areas for further research and future work, aiming to generate more interest within the community, tackle existing challenges, and encourage the use of Transformer models in the tactile field., Comment: 27 pages, 2 tables, 5 figures, accepted by ICIC 2024

The growing market and massive use of Internet of Things nodes is placing unprecedented demands of energy efficient hardware for edge computing and microwave devices. In particular, magnetic tunnel junctions (MTJs), as main building blocks of spintronic microwave technology, can offer a path for the development of compact and high-performance microwave detectors. On the other hand, the fascinating field of skyrmionics is bridging together concepts from topology and spintronics. Here, we show the proof of concept of a topological spin-torque diode realized with an MTJ on top of a skyrmionic material at room temperature and for a wide region of applied fields, including the zero-field case. Our spin torque diode electrical measurements show the electrical excitation of a skyrmion resonant mode with frequencies near 4 GHz and a selectivity one order of magnitude smaller than the uniform modes excited in the same device. Micromagnetic simulations identify these dynamics with the excitation of the breathing mode and point out the role of thickness dependent magnetic parameters (magnetic anisotropy field and Dzyaloshinkii Moriya interaction) in both stabilizing and exciting the magnetic skyrmions. This work marks a milestone for the development of topological spin-torque diodes.

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic deformation. In this paper, we describe a new deformable object manipulation method including soft contact simulation, manipulation learning, and sim-to-real transfer. We propose a novel approach utilizing Vision-Based Tactile Sensors (VBTSs) as the end-effector in simulation to produce observations like relative position, squeezed area, and object contour, which are transferable to real robots. For a more realistic contact simulation, a new simulation environment including elastic, plastic, and elastoplastic deformations is created. We utilize RL strategies to train agents in the simulation, and expert demonstrations are applied for challenging tasks. Finally, we build a real experimental platform to complete the sim-to-real transfer and achieve a 90% success rate on difficult tasks such as cylinder and sphere. To test the robustness of our method, we use plasticine of different hardness and sizes to repeat the tasks including cylinder and sphere. The experimental results show superior performances of deformable object manipulation with the proposed method.

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation.

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different tasks. The learning-based approach is considered an effective way to address generalization. The impressive performance of foundation models in the fields of computer vision and natural language suggests the potential of embedding foundation models into manipulation tasks as a viable path toward achieving general manipulation capability. However, we believe achieving general manipulation capability requires an overarching framework akin to auto driving. This framework should encompass multiple functional modules, with different foundation models assuming distinct roles in facilitating general manipulation capability. This survey focuses on the contributions of foundation models to robot learning for manipulation. We propose a comprehensive framework and detail how foundation models can address challenges in each module of the framework. What's more, we examine current approaches, outline challenges, suggest future research directions, and identify potential risks associated with integrating foundation models into this domain.

Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with limited exploration in the domain of language. Beyond vocabulary, sentence-level descriptions contain richer semantics. Based on this, we construct a touch-language-vision dataset named TLV (Touch-Language-Vision) by human-machine cascade collaboration, featuring sentence-level descriptions for multimode alignment. The new dataset is used to fine-tune our proposed lightweight training framework, STLV-Align (Synergistic Touch-Language-Vision Alignment), achieving effective semantic alignment with minimal parameter adjustments (1%). Project Page: https://xiaoen0.github.io/touch.page/., Comment: Accepted by ICIC 2024

We presented the multi-filter light curves of CSS_J154915.7+375506 inaugurally, which were observed by the 1.5 m AZT-22 telescope at Maidanak Astronomical Observatory. A low-resolution spectrum obtained by LAMOST reveals it is an A-type close binary. By analyzing the BVRI total-eclipse light curves, we are able to derive a reliable photometric solution for this system, which indicates that CSS_J154915.7+375506 is an extremely low-mass-ratio (q=0.138) marginal contact binary system. The location in the HR diagram shows that its secondary component with a much smaller mass is the more evolved one, indicating the mass ratio reversal occurred. The present secondary component had transferred a significant amount of mass to the present primary one. By the combination of a total of 20 times of minimum, we investigated its O-C curve. A periodic oscillation and a possible period decrease have been detected. As the period decreases, the system will evolve towards the contact phase. This makes CSS\_J154915.7+375506 a valuable case to study the formation scenario of contact binaries through mass reversal. The periodic oscillation suggested a third body with a minimal mass of $0.91\,M_{\odot}$, which is larger than that of the less massive component in the central binary. This implies that the secondary body was not replaced by the third body during early stellar interactions, indicating that it is a fossil system and retains its original dynamical information., Comment: 8 pages, 6 figures

Existing blind image quality assessment (BIQA) methods focus on designing complicated networks based on convolutional neural networks (CNNs) or transformer. In addition, some BIQA methods enhance the performance of the model in a two-stage training manner. Despite the significant advancements, these methods remarkably raise the parameter count of the model, thus requiring more training time and computational resources. To tackle the above issues, we propose a lightweight parallel framework (LPF) for BIQA. First, we extract the visual features using a pre-trained feature extraction network. Furthermore, we construct a simple yet effective feature embedding network (FEN) to transform the visual features, aiming to generate the latent representations that contain salient distortion information. To improve the robustness of the latent representations, we present two novel self-supervised subtasks, including a sample-level category prediction task and a batch-level quality comparison task. The sample-level category prediction task is presented to help the model with coarse-grained distortion perception. The batch-level quality comparison task is formulated to enhance the training data and thus improve the robustness of the latent representations. Finally, the latent representations are fed into a distortion-aware quality regression network (DaQRN), which simulates the human vision system (HVS) and thus generates accurate quality scores. Experimental results on multiple benchmark datasets demonstrate that the proposed method achieves superior performance over state-of-the-art approaches. Moreover, extensive analyses prove that the proposed method has lower computational complexity and faster convergence speed.

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual observations. We propose a vision-based Hierarchical policy for Cluttered-scene Long-horizon Manipulation (HCLM). It employs a high-level policy and three options to select and instantiate three parameterized action primitives: push, pick, and place. We first train the pick and place options by behavior cloning (BC). Subsequently, we use hierarchical reinforcement learning (HRL) to train the high-level policy and push option. During HRL, we propose a Spatially Extended Q-update (SEQ) to augment the updates for the push option and a Two-Stage Update Scheme (TSUS) to alleviate the non-stationary transition problem in updating the high-level policy. We demonstrate that HCLM significantly outperforms baseline methods in terms of success rate and efficiency in diverse tasks. We also highlight our method's ability to generalize to more cluttered environments with more additional blocks.

We present RobotGPT, an innovative decision framework for robotic manipulation that prioritizes stability and safety. The execution code generated by ChatGPT cannot guarantee the stability and safety of the system. ChatGPT may provide different answers for the same task, leading to unpredictability. This instability prevents the direct integration of ChatGPT into the robot manipulation loop. Although setting the temperature to 0 can generate more consistent outputs, it may cause ChatGPT to lose diversity and creativity. Our objective is to leverage ChatGPT's problem-solving capabilities in robot manipulation and train a reliable agent. The framework includes an effective prompt structure and a robust learning model. Additionally, we introduce a metric for measuring task difficulty to evaluate ChatGPT's performance in robot manipulation. Furthermore, we evaluate RobotGPT in both simulation and real-world environments. Compared to directly using ChatGPT to generate code, our framework significantly improves task success rates, with an average increase from 38.5% to 91.5%. Therefore, training a RobotGPT by utilizing ChatGPT as an expert is a more stable approach compared to directly using ChatGPT as a task planner.

Achieving spatiotemporal control of light at high-speeds presents immense possibilities for various applications in communication, computation, metrology, and sensing. The integration of subwavelength metasurfaces and optical waveguides offers a promising approach to manipulate light across multiple degrees of freedom at high-speed in compact photonic integrated circuit (PICs) devices. Here, we demonstrate a gigahertz-rate-switchable wavefront shaping by integrating metasurface, lithium niobite on insulator (LNOI) photonic waveguide and electrodes within a PIC device. As proofs of concept, we showcase the generation of a focus beam with reconfigurable arbitrary polarizations, switchable focusing with lateral focal positions and focal length, orbital angular momentum light beams (OAMs) as well as Bessel beams. Our measurements indicate modulation speeds of up to gigahertz rate. This integrated platform offers a versatile and efficient means of controlling light field at high-speed within a compact system, paving the way for potential applications in optical communication, computation, sensing, and imaging.

Magnetic tunneling junctions (MTJs) are essential for non-volatile magneto-resistive random access memory (MRAM) applications. Here, we report the observation of a large negative tunneling magneto-resistance (TMR) in the CoFeB/MgO/CoFeB system with an orthogonally-magnetized configuration. Through the thickness modulation of the MgO barrier, the negative TMR component can be enhanced up to 20% under a negative voltage bias. Moreover, the tunnel anisotropic magneto-resistance measurements unveil that the negative TMR component likely arises from the interfacial resonance states (IRS) in the minority band of the bottom ferromagnetic layer. Complementary first principle calculations further quantify the IRS location and strength with respect to the Fermi level position. Our work not only confirm the vital role of IRS in the electrical transport of MTJ, but also provide valuable insights for the design of new-generation voltage-controlled MRAM and related spintronic applications.

Artificial Intelligence (AI) is making a profound impact in almost every domain. One of the crucial factors contributing to this success has been the access to an abundance of high-quality data for constructing machine learning models. Lately, as the role of data in artificial intelligence has been significantly magnified, concerns have arisen regarding the secure utilization of data, particularly in the context of unauthorized data usage. To mitigate data exploitation, data unlearning have been introduced to render data unexploitable. However, current unlearnable examples lack the generalization required for wide applicability. In this paper, we present a novel, generalizable data protection method by generating transferable unlearnable examples. To the best of our knowledge, this is the first solution that examines data privacy from the perspective of data distribution. Through extensive experimentation, we substantiate the enhanced generalizable protection capabilities of our proposed method., Comment: arXiv admin note: text overlap with arXiv:2305.10691

The unauthorized use of personal data for commercial purposes and the clandestine acquisition of private data for training machine learning models continue to raise concerns. In response to these issues, researchers have proposed availability attacks that aim to render data unexploitable. However, many current attack methods are rendered ineffective by adversarial training. In this paper, we re-examine the concept of unlearnable examples and discern that the existing robust error-minimizing noise presents an inaccurate optimization objective. Building on these observations, we introduce a novel optimization paradigm that yields improved protection results with reduced computational time requirements. We have conducted extensive experiments to substantiate the soundness of our approach. Moreover, our method establishes a robust foundation for future research in this area.

Fast scanning-speed and low-power-consumption are becoming progressively more and more important in realizing high-performance chiplet optical phased arrays (OPAs). Here, we establish an integrated OPA based on thin-film lithium niobate-on-insulator (LNOI) platform to access these outstanding performances. Significantly, a lithium niobate (LN) OPA chip is implemented by 32/48 channels LN waveguides enabled by electro-optic modulations, which showcases the low power consumption (1.11nJ/{\pi}}) and fast operation speed (14.4 ns) promising the advantage of the LNOI platform for integrated OPAs. As results, we experimentally achieved a beam steering with a 62.2{\deg}*8.8{\deg} field of view (FOV) and a beam divergence of 2.4{\deg}*1.2{\deg}. Moreover, by employing sparse aperiodic arrays in waveguides design we obtained a significant reduction of lateral divergence to 0.33{\deg} for the radiation beam. This work demonstrate that remarkable advantage of LNOI platform for power-saving and scalable OPA chips for various applications., Comment: 22 pages,5 figures,conferences added

Spiking neural networks aim to emulate the brain's properties to achieve similar parallelism and high-processing power. A caveat of these neural networks is the high computational cost to emulate, while current proposals for analogue implementations are energy inefficient and not scalable. We propose a device based on a single magnetic tunnel junction to perform neuron firing for spiking neural networks without the need of any resetting procedure. We leverage two physics, magnetism and thermal effects, to obtain a bio-realistic spiking behavior analogous to the Huxley-Hodgkin model of the neuron. The device is also able to emulate the simpler Leaky-Integrate and Fire model. Numerical simulations using experimental-based parameters demonstrate firing frequency in the MHz to GHz range under constant input at room temperature. The compactness, scalability, low cost, CMOS-compatibility, and power efficiency of magnetic tunnel junctions advocate for their broad use in hardware implementations of spiking neural networks., Comment: 23 pages, 6 figures, 2 tables

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup is used for lifting the object from the clutter first and the gripper for grasping the object accordingly. We utilize the affordance map to provide pixel-wise lifting point candidates for the suction cup. To obtain a good affordance map, the active exploration mechanism is introduced to the system. An effective metric is designed to calculate the reward for the current affordance map, and a deep Q-Network (DQN) is employed to guide the robotic hand to actively explore the environment until the generated affordance map is suitable for grasping. Experimental results have demonstrated that the proposed robotic grasping system is able to greatly increase the success rate of the robotic grasping in cluttered scenes., Comment: has been accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems 2019

Broadband quantum memory is critical to enabling the operation of emerging photonic quantum technology at high speeds. Here we review a central challenge to achieving broadband quantum memory in atomic ensembles -- what we call the 'linewidth-bandwidth mismatch' problem -- and the relative merits of various memory protocols and hardware used for accomplishing this task. We also review the theory underlying atomic ensemble quantum memory and its extensions to optimizing memory efficiency and characterizing memory sensitivity. Finally, we examine the state-of-the-art performance of broadband atomic ensemble quantum memories with respect to three key metrics: efficiency, memory lifetime, and noise., Comment: 40 pages, 11 figures, submitted to Advances in AMO Physics

Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer deformation physics is not considered in the former method, whereas the latter requires a massive amount of computational resources like a computer cluster. In this work, we propose a pluggable and low computational cost simulator using the Taichi programming language for simulating optical tactile sensors, named as Tacchi . It reconstructs elastomer deformation using particles, which allows deformed elastomer surfaces to be rendered into tactile images and reveals contact information without suffering from high computational costs. Tacchi facilitates creating realistic tactile images in simulation, e.g., ones that capture wear-and-tear defects on object surfaces. In addition, the proposed Tacchi can be integrated with robotics simulators for a robot system simulation. Experiment results showed that Tacchi can produce images with better similarity to real images and achieved higher Sim2Real accuracy compared to the existing methods. Moreover, it can be connected with MuJoCo and Gazebo with only the requirement of 1G memory space in GPU compared to a computer cluster applied for FEM. With Tacchi, physical robot simulation with optical tactile sensors becomes possible. All the materials in this paper are available at https://github.com/zixichen007115/Tacchi ., Comment: 8 pages, 6 figures, accepted by IEEE Robotics and Automation Letters

Recently, Transformer is much popular and plays an important role in the fields of Machine Learning (ML), Natural Language Processing (NLP), and Computer Vision (CV), etc. In this paper, based on the Vision Transformer (ViT) model, a new dimensionality reduction (DR) model is proposed, named Transformer-DR. From data visualization, image reconstruction and face recognition, the representation ability of Transformer-DR after dimensionality reduction is studied, and it is compared with some representative DR methods to understand the difference between Transformer-DR and existing DR methods. The experimental results show that Transformer-DR is an effective dimensionality reduction method.

3D human reconstruction from RGB images achieves decent results in good weather conditions but degrades dramatically in rough weather. Complementary, mmWave radars have been employed to reconstruct 3D human joints and meshes in rough weather. However, combining RGB and mmWave signals for robust all-weather 3D human reconstruction is still an open challenge, given the sparse nature of mmWave and the vulnerability of RGB images. In this paper, we present ImmFusion, the first mmWave-RGB fusion solution to reconstruct 3D human bodies in all weather conditions robustly. Specifically, our ImmFusion consists of image and point backbones for token feature extraction and a Transformer module for token fusion. The image and point backbones refine global and local features from original data, and the Fusion Transformer Module aims for effective information fusion of two modalities by dynamically selecting informative tokens. Extensive experiments on a large-scale dataset, mmBody, captured in various environments demonstrate that ImmFusion can efficiently utilize the information of two modalities to achieve a robust 3D human body reconstruction in all weather conditions. In addition, our method's accuracy is significantly superior to that of state-of-the-art Transformer-based LiDAR-camera fusion methods., Comment: Accepted to ICRA2023, Project Page: https://chen3110.github.io/ImmFusion/index.html