Abstract

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed re ality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps, existing methods use skeletons, meshes, or parametric models that does not represent hand shape accu rately resulting in inaccurate contacts. We present MANUS, amethodforMarkerlessHand-ObjectGraspCaptureusing Articulated 3D Gaussians. We build a novel articulated 3D Gaussians representation that extends 3D Gaussian splatting [33] for high-fidelity representation of articulat ing hands. Since our representation uses Gaussian primi tives optimized from the multi-view pixel-aligned losses, it enables us to efficiently and accurately estimate contacts between the hand and the object.

Abstract

The scalar-leptoquark (sLQ) parameter space is well explored experimentally. The direct pair production searches at the LHC have excluded light sLQs almost model agnostically, and the high-pT dilepton tail data have put strong bounds on the leptoquark-quark-lepton Yukawa couplings for a wide range of sLQ masses. However, these do not show the complete picture. Previously, Mandal et al. [Single productions of colored particles at the LHC: An example with scalar leptoquarks, J. High Energy Phys. 07 (2015) 028] showed how the dilepton-dijet data from the pair production searches could give strong limits on these couplings. This was possible by including the single-production contribution to the dilepton-dijet signal. In this paper, we take a fresh look at the LHC limits on all sLQs by following the same principle and combine all significant contributions—from pair and single productions, t-channel sLQ exchange and its interference with the Standard Model background—to the μμjj final state and recast the limits. We notice that the sLQ exchange and its interference with the background processes play significant roles in the limits. The μμjj- recast limits are comparable to or, in some cases, significantly better than the currently known limits (from high-pT dilepton data and direct searches), i.e., the LHC data rules out more parameter space than what is considered in the current literature. For the first time, we also show how including the QED processes can noticeably improve the sLQ mass exclusion limits from the QCD-only limits.

Abstract

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Abstract

The advent of the Internet of Things (IoT) has ushered in transformative possibilities for smart cities, with the potential to revolutionize urban living through enhanced connectivity and data-driven decision-making. However, the effective realization of IoT in smart cities hinges upon the seamless interoperability of diverse devices and systems. To address this critical need, the oneM2M standards initiative has emerged as a foundational framework for IoT interoperability. In this research paper, we perform an exploratory analysis of three prominent open-source oneM2M based interoperability systems—Mobius, OM2M, and ACME. We leverage an existing large-scale system provided by our Smart City Living Lab deployed at IIIT Hyderabad, sprawling a 66-acre campus featuring over 370 nodes across eight verticals. We investigate the architectural characteristics of each solution, considering their strengths and limitations in facilitating IoT interoperability. Through this analysis, our paper aims to provide valuable insights for stakeholders seeking to implement IoT interoperability solutions in the context of smart cities. By evaluating the strengths and limitations of Mobius, OM2M, and ACME, we seek to offer guidance for selecting the most suitable solution. Our analysis reveals that the optimal framework choice depends on specific quality constraints: Mobius excels in performance, while ACME offers advantages in ease of setup for smaller-scale implementations.

Abstract

In an ecosystem comprising coexisting species, mutations frequently occur. These mutations can be induced by various factors such as errors in DNA replication and exposure to chemicals. They constitute an intrinsic element of species evolution. This study investigates the impact of mutations on ecosystems, employing Gillespie simulations and the formulation of the First-passage extinction problem to assess their effects and examine extinction events. Our findings suggest first-extinction time and state distribution in a system with mutation follows intriguing behavior which promotes co-existence. There also exists a depression in the state space post which mutation extends the first-extinction time. Moreover, a system devoid of mutation exhibits a discernible inclination towards probabilities that lean in the direction of an endangered state space.

Abstract

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration methods rely on geometric and feature-based similarity, we take a different approach. We use cycle-consistent keypoints as salient points to enforce spatial coherence constraints during matching, improving correspondence accuracy. Additionally, we introduce a novel pose block that combines a GRU recurrent unit with transformation synchronization, blending historical and multi-view data. Our approach surpasses previous selfsupervised registration methods on ScanNet and 3DMatch, even outperforming some older supervised methods. We also integrate our components into existing methods, showing their effectiveness.

Abstract

Assistive agents performing household tasks such as making the bed or cooking breakfast often compute and execute actions that accomplish one task at a time. However, efficiency can be improved by anticipating upcoming tasks and computing an action sequence that jointly achieves these tasks. State-of-the-art methods for task anticipation use data-driven deep networks and Large Language Models (LLMs), but they do so at the level of high-level tasks and/or require many training examples. Our framework leverages the generic knowledge of LLMs through a small number of prompts to perform high-level task anticipation, using the anticipated tasks as goals in a classical planning system to compute a sequence of finer-granularity actions that jointly achieve these goals. We ground and evaluate our framework's abilities in realistic scenarios in the VirtualHome environment and demonstrate a 31% reduction in execution time compared with a system that does not consider upcoming tasks.

Abstract

Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used off-the-shelf for any new scene without needing specific training datasets. However, without a prior understanding of what diverse valid trajectories are and without specially designed cost functions for a given scene, the overall solutions tend to have low success rates. While deep-learning-based algorithms tremendously improve success rates, they are much harder to adopt without specialized training datasets. We propose EDMP, an Ensemble-of-costs-guided Diffusion for Motion Planning that aims to combine the strengths of classical and deep-learning-based motion planning. Our diffusion-based network is trained on a set of diverse kinematically valid trajectories. Like classical planning, for any new scene at the time of inference, we compute scene-specific costs such as "collision cost" and guide the diffusion to generate valid trajectories that satisfy the scene-specific constraints. Further, instead of a single cost function that may be insufficient in capturing diversity across scenes, we use an ensemble of costs to guide the diffusion process, significantly improving the success rate compared to classical planners. EDMP performs comparably with SOTA deep-learning-based methods while retaining the generalization capabilities primarily associated with classical planners.

Abstract

In this letter, we propose a PIPE-CovNet+ model that is ba-sed on convolutional neural networks (CNNs) with multiple kernel sizes, gradient boosting techniques, and hyper-densely connected layers for abnormality detection in wastewater pipe infrastructure. The PIPE-CovNet+ model achieved 85% accuracy and 84% F1-score following assessment utilizing an open-source dataset, overcoming the constraints of imbalanced data and over-fitting issues. Furthermore, it showed greater efficacy when compared against other relevant models, displaying 3% higher accuracy and F1-score than our prior work under ideal test settings. Installing PIPE-CovNet+ into a robot system can alleviate the limitations of being tedious, laborious, and prone to human error in closed-circuit television (CCTV) inspections.

Abstract

Given the current emphasis on maintaining and inspecting high-rise buildings, conventional inspection approaches are costly, slow, error-prone, and labor-intensive due to manual processes and lack of automation. In this paper, we provide an automated, periodic, accurate and economical solution for the inspection of such buildings on real-world images. We propose a novel end-to-end integrated autonomous pipeline for building inspection which consists of three modules: i) Autonomous Drone Navigation, ii) Façade Detection, and iii) Model Construction. Our first module computes a collision-free trajectory for the UAV around the building for surveillance. The images captured in this step are used for façade detection and 3D building model construction. The façade detection module is a deep learning-based object detection method which detects cracks. Finally, the model construction module focuses on reconstructing a 3D model of a building from captured images to mark the corresponding cracks on the 3D model for efficient and accurate inferences from the inspection. We conduct experiments for each module, including collision avoidance for drone navigation, façade detection, model construction and mapping. Our experimental analysis shows the promising performance of i) our crack detection model with a precision and recall of 0.95 and mAP score of 0.96; ii) our 3D reconstruction method includes finer details of the building without having additional information on the sequence of images; and iii) our 2D-3D mapping to compute the original location/world coordinates of cracks for a building.