EasyHeC: Accurate and Automatic Hand-eye Calibration via Differentiable Rendering and Space Exploration

Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint poses and the use of specialized calibration markers, while most recent learning-based approaches using solely pose regression are limited in their abilities to diagnose inaccuracies. In this work, we introduce a new approach to hand-eye calibration called EasyHeC, which is markerless, white-box, and offers comprehensive coverage of positioning accuracy across the entire robot configuration space. We introduce two key technologies: differentiable rendering-based camera pose optimization and consistency-based joint space exploration, which enables accurate end-to-end optimization of the calibration process and eliminates the need for the laborious manual design of robot joint poses. Our evaluation demonstrates superior performance in synthetic and real-world datasets, enhancing downstream manipulation tasks by providing precise camera poses for locating and interacting with objects. The code is available at the project page: https://ootts.github.io/easyhec.Comment: Project page: https://ootts.github.io/easyhe

Voltage-controlled nonlinear optical properties in gold nanofilms via electrothermal effect

Abstract Dynamic control of the optical properties of gold nanostructures is crucial for advancing photonics technologies spanning optical signal processing, on-chip light sources and optical computing. Despite recent advances in tunable plasmons in gold nanostructures, most studies are limited to the linear or static regime, leaving the dynamic manipulation of nonlinear optical properties unexplored. This study demonstrates the voltage-controlled Kerr nonlinear optical response of gold nanofilms via the electrothermal effect. By applying relatively low voltages (~10 V), the nonlinear absorption coefficient and refractive index are reduced by 40.4% and 33.1%, respectively, due to the increased damping coefficient of gold nanofilm. Furthermore, a voltage-controlled all-fiber gold nanofilm saturable absorber is fabricated and used in mode-locked fiber lasers, enabling reversible wavelength-tuning and operation regimes switching (e.g., mode-locking—Q-switched mode-locking). These findings advance the understanding of electrically controlled nonlinear optical responses in gold nanofilms and offer a flexible approach for controlling fiber laser operations

A redox-responsive self-assembling COA-4-arm PEG prodrug nanosystem for dual drug delivery suppresses cancer metastasis and drug resistance by downregulating hsp90 expression

Metastasis and resistance are main causes to affect the outcome of the current anticancer therapies. Heat shock protein 90 (Hsp90) as an ATP-dependent molecular chaperone takes important role in the tumor metastasis and resistance. Targeting Hsp90 and downregulating its expression show promising in inhibiting tumor metastasis and resistance. In this study, a redox-responsive dual-drug nanocarrier was constructed for the effective delivery of a commonly used chemotherapeutic drug PTX, and a COA-modified 4-arm PEG polymer (4PSC) was synthesized. COA, an active component in oleanolic acid that exerts strong antitumor activity by downregulating Hsp90 expression, was used as a structural and functional element to endow 4PSC with redox responsiveness and Hsp90 inhibitory activity. Our results showed that 4PSC/PTX nanomicelles efficiently delivered PTX and COA to tumor locations without inducing systemic toxicity. By blocking the Hsp90 signaling pathway, 4PSC significantly enhanced the antitumor effect of PTX, inhibiting tumor proliferation and invasiveness as well as chemotherapy-induced resistance in vitro. Remarkable results were further confirmed in vivo with two preclinical tumor models. These findings demonstrate that the COA-modified 4PSC drug delivery nanosystem provides a potential platform for enhancing the efficacy of chemotherapies