SensorPerch: Sense Wherever and Whenever it Matters
SensorPerch: Sense Wherever and Whenever it Matters
This research introduces SensorPerch, a novel active perception system that treats sensors as independent physical entities which robots can autonomously detach and re-attach. The system comprises a lightweight, wireless sensor platform capable of perching on diverse surfaces and a viewpoint-selection framework for determining task-optimal placements. The authors demonstrate the approach on two task classes: object-coupled perception, achieving persistent object-state detection beyond the robot's current position, and policy-coupled perception, constructing diverse viewpoints that achieve success rates comparable to oracle viewpoints.
The authors propose SensorPerch, a wireless, reconfigurable sensor platform that decouples sensing from robot embodiment and fixed infrastructure to enable task-optimal viewpoint selection; the paper demonstrates this paradigm on object-coupled and policy-coupled perception tasks, reporting successful event detection away from the robot and success rates comparable to oracle viewpoints.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Control
- Reported autonomousOpen source S3
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
fy. To address this gap, we propose SensorPerch, a novel realization of active perception that decouples sensing from both the robot embodiment and the environment by treating sensors as independent physical entities that the robot can autonomously detach and re-attach within the environment. SensorPerch presents one realization of this paradigm: a lightweight, wireless, reconfigurable sensor platform that can perch
Open source S3
he robot's current position, achieving successful event detection even when the robot is not nearby; and (ii) policy-coupled perception, where SensorPerch allows robots to construct diverse, policy-specific viewpoints for various policies, achieving success rates comparable to those obtained using oracle viewpoints.
Open source S5
on diverse surfaces, paired with a viewpoint-selection framework that determines task-optimal sensor placements. Together, these enable robots to construct task-relevant viewpoints on demand, independent of the robot's current position and available fixed infrastructure. We demonstrate the paradigm on two task classes: (i) object-coupled perception, where SensorPerch enables persistent object-state detection beyond t
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org