GoNet: An Approach-Constrained Generative Grasp Sampling Network

Constraining the approach direction of grasps is important when picking objects in confined spaces, such as when emptying a shelf. Yet, such capabilities are not available in state-of-the-art data-driven grasp sampling methods that sample grasps all around the object. In this work, we address the specific problem of training approach-constrained data-driven grasp samplers and how to generate good grasping directions automatically. Our solution is GoNet: a generative grasp sampler that can constrain the grasp approach direction to lie close to a specified direction. This is achieved by discretizing SO(3) into bins and training GoNet to generate grasps from those bins. At run-time, the bin aligning with the second largest principal component of the observed point cloud is selected. GoNet is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in an unconfined grasping experiment in simulation and on an unconfined and confined grasping experiment in the real world. The results demonstrate that GoNet achieves higher success-over-coverage in simulation and a 12%-18% higher success rate in real-world table-picking and shelf-picking tasks than the baseline.Comment: IROS 2023 submissio

CAPGrasp: An R3×SO(2)-equivariant\mathbb{R}^3\times \text{SO(2)-equivariant} Continuous Approach-Constrained Generative Grasp Sampler

We propose CAPGrasp, an $\mathbb{R}^3\times \text{SO(2)-equivariant}$ 6-DoF continuous approach-constrained generative grasp sampler. It includes a novel learning strategy for training CAPGrasp that eliminates the need to curate massive conditionally labeled datasets and a constrained grasp refinement technique that improves grasp poses while respecting the grasp approach directional constraints. The experimental results demonstrate that CAPGrasp is more than three times as sample efficient as unconstrained grasp samplers while achieving up to 38% grasp success rate improvement. CAPGrasp also achieves 4-10% higher grasp success rates than constrained but noncontinuous grasp samplers. Overall, CAPGrasp is a sample-efficient solution when grasps must originate from specific directions, such as grasping in confined spaces.Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost vision-based tactile sensors and propose a manipulation algorithm that adapts to both rigid and soft objects without requiring any knowledge of their properties. The algorithm relies on a touch and slip detection method, which considers the variation in the tactile images with respect to reference ones. We validate the approach on seven different objects, with different properties in terms of rigidity and fragility, to perform unplugging and lifting tasks. Furthermore, to enhance applicability, we combine the manipulation algorithm with a grasp sampler for the task of finding and picking a grape from a bunch without damaging~it.Comment: Published in IEEE International Conference on Automation Science and Engineering (CASE2023

Overview and prospect of the detection capability of China's first precipitation measurement satellite FY-3G

Based on introducing the technical characteristics of FY-3G, which is China's first precipitation measurement satellite and successfully launched at 09∶36 BT on April 16 in 2023, this paper focuses on the precipitation detection capabilities and application prospect in rainstorm monitoring of FY-3G. The results show that, with an orbit at 407 km and an inclination angle of 50°, and equipped with a dual-frequency Ka/Ku band precipitation measurement radar, microwave, and optical imaging instruments, the FY-3G satellite can detect the three-dimensional structure of disastrous weather systems such as typhoon, heavy rainfall, and other strong convection events in most of China. At the design level, FY-3G has precipitation detection capabilities comparable to the current US Second Generation Global Precipitation Measurement Program (GPM) Core Satellite (GPMCO), but better payload types, quantities, and channel settings compared with the GPMCO satellite. After the service operation, the FY-3G satellite, together with other polar-orbiting meteorological satellites such as FY-3 AM, PM, and EM, as well as high-orbit geostationary satellites, will form the Fengyun precipitation detection constellation system, which will improve the overall precipitation detection capability of the Fengyun Satellite constellation and provide stronger basic support for meteorological disaster prevention and mitigation

A study of CP violation in B-+/- -> DK +/- and B-+/- -> D pi(+/-) decays with D -> (KSK +/-)-K-0 pi(-/+) final states

A first study of CP violation in the decay modes $B^\pm\to [K^0_{\rm S} K^\pm \pi^\mp]_D h^\pm$ and $B^\pm\to [K^0_{\rm S} K^\mp \pi^\pm]_D h^\pm$, where $h$ labels a $K$ or $\pi$ meson and $D$ labels a $D^0$ or $\overline{D}^0$ meson, is performed. The analysis uses the LHCb data set collected in $pp$ collisions, corresponding to an integrated luminosity of 3 fb$^{-1}$. The analysis is sensitive to the CP-violating CKM phase $\gamma$ through seven observables: one charge asymmetry in each of the four modes and three ratios of the charge-integrated yields. The results are consistent with measurements of $\gamma$ using other decay modes

Measurement of Upsilon production in collisions at root s=2.76 TeV

The production of $\Upsilon(1S)$, $\Upsilon(2S)$ and $\Upsilon(3S)$ mesons decaying into the dimuon final state is studied with the LHCb detector using a data sample corresponding to an integrated luminosity of 3.3 $pb^{-1}$ collected in proton-proton collisions at a centre-of-mass energy of $\sqrt{s}=2.76$ TeV. The differential production cross-sections times dimuon branching fractions are measured as functions of the $\Upsilon$ transverse momentum and rapidity, over the ranges $p_{\rm T} Upsilon(1S) X) x B(Upsilon(1S) -> mu+mu-) = 1.111 +/- 0.043 +/- 0.044 nb, sigma(pp -> Upsilon(2S) X) x B(Upsilon(2S) -> mu+mu-) = 0.264 +/- 0.023 +/- 0.011 nb, sigma(pp -> Upsilon(3S) X) x B(Upsilon(3S) -> mu+mu-) = 0.159 +/- 0.020 +/- 0.007 nb, where the first uncertainty is statistical and the second systematic

Search for CP violation using T-odd correlations in D-0 -> K+K-pi(+)pi(-) decays

A search for $CP$ violation using $T$-odd correlations is performed using the four-body $D^0 \to K^+K^-\pi^+\pi^-$ decay, selected from semileptonic $B$ decays. The data sample corresponds to integrated luminosities of $1.0\,\text{fb}^{-1}$ and $2.0\,\text{fb}^{-1}$ recorded at the centre-of-mass energies of 7 TeV and 8 TeV, respectively. The $CP$-violating asymmetry $a_{CP}^{T\text{-odd}}$ is measured to be $(0.18\pm 0.29\text{(stat)}\pm 0.04\text{(syst)})\%$. Searches for $CP$ violation in different regions of phase space of the four-body decay, and as a function of the $D^0$ decay time, are also presented. No significant deviation from the $CP$ conservation hypothesis is found

Measurement of CP asymmetry in B-s(0) -> D-s(-/+) K--/+ decays

We report on measurements of the time-dependent CP violating observables in $B^0_s\rightarrow D^{\mp}_s K^{\pm}$ decays using a dataset corresponding to 1.0 fb$^{-1}$ of pp collisions recorded with the LHCb detector. We find the CP violating observables $C_f=0.53\pm0.25\pm0.04$, $A^{\Delta\Gamma}_f=0.37\pm0.42\pm0.20$, $A^{\Delta\Gamma}_{\bar{f}}=0.20\pm0.41\pm0.20$, $S_f=-1.09\pm0.33\pm0.08$, $S_{\bar{f}}=-0.36\pm0.34\pm0.08$, where the uncertainties are statistical and systematic, respectively. We use these observables to make the first measurement of the CKM angle $\gamma$ in $B^0_s\rightarrow D^{\mp}_s K^{\pm}$ decays, finding $\gamma$ = (115$_{-43}^{+28}$)$^\circ$ modulo 180$^\circ$ at 68% CL, where the error contains both statistical and systematic uncertainties.We report on measurements of the time-dependent CP violating observables in B$_{s}^{0}$  → D$_{s}^{∓}$ K$^{±}$ decays using a dataset corresponding to 1.0 fb$^{−1}$ of pp collisions recorded with the LHCb detector. We find the CP violating observables C$_{f}$ = 0.53±0.25±0.04, A$_{f}^{ΔΓ}$  = 0.37 ± 0.42 ± 0.20, ${A}_{\overline{f}}^{\varDelta \varGamma }=0.20\pm 0.41\pm 0.20$ , S$_{f}$ = −1.09±0.33±0.08, ${S}_{\overline{f}}=-0.36\pm 0.34\pm 0.08$ , where the uncertainties are statistical and systematic, respectively. Using these observables together with a recent measurement of the B$_{s}^{0}$ mixing phase −2β$_{s}$ leads to the first extraction of the CKM angle γ from B$_{s}^{0}$  → D$_{s}^{∓}$ K$^{±}$ decays, finding γ = (115$_{− 43}^{+ 28}$ )° modulo 180° at 68% CL, where the error contains both statistical and systematic uncertainties.We report on measurements of the time-dependent CP violating observables in $B^0_s\rightarrow D^{\mp}_s K^{\pm}$ decays using a dataset corresponding to 1.0 fb$^{-1}$ of pp collisions recorded with the LHCb detector. We find the CP violating observables $C_f=0.53\pm0.25\pm0.04$, $A^{\Delta\Gamma}_f=0.37\pm0.42\pm0.20$, $A^{\Delta\Gamma}_{\bar{f}}=0.20\pm0.41\pm0.20$, $S_f=-1.09\pm0.33\pm0.08$, $S_{\bar{f}}=-0.36\pm0.34\pm0.08$, where the uncertainties are statistical and systematic, respectively. Using these observables together with a recent measurement of the $B^0_s$ mixing phase $-2\beta_s$ leads to the first extraction of the CKM angle $\gamma$ from $B^0_s \rightarrow D^{\mp}_s K^{\pm}$ decays, finding $\gamma$ = (115$_{-43}^{+28}$)$^\circ$ modulo 180$^\circ$ at 68% CL, where the error contains both statistical and systematic uncertainties

Study of forward Z + jet production in pp collisions at √s=7 TeV

A measurement of the $Z(\rightarrow\mu^+\mu^-)$+jet production cross-section in $pp$ collisions at a centre-of-mass energy $\sqrt{s} = 7$ TeV is presented. The analysis is based on an integrated luminosity of $1.0\,\text{fb}^{-1}$ recorded by the LHCb experiment. Results are shown with two jet transverse momentum thresholds, 10 and 20 GeV, for both the overall cross-section within the fiducial volume, and for six differential cross-section measurements. The fiducial volume requires that both the jet and the muons from the Z boson decay are produced in the forward direction ($2.0<\eta<4.5$). The results show good agreement with theoretical predictions at the second-order expansion in the coupling of the strong interaction.A measurement of the $Z(\rightarrow\mu^+\mu^-)$+jet production cross-section in $pp$ collisions at a centre-of-mass energy $\sqrt{s} = 7$ TeV is presented. The analysis is based on an integrated luminosity of $1.0\,\text{fb}^{-1}$ recorded by the LHCb experiment. Results are shown with two jet transverse momentum thresholds, 10 and 20 GeV, for both the overall cross-section within the fiducial volume, and for six differential cross-section measurements. The fiducial volume requires that both the jet and the muons from the Z boson decay are produced in the forward direction ($2.0<\eta<4.5$). The results show good agreement with theoretical predictions at the second-order expansion in the coupling of the strong interaction