Jiyu Liu

Tutian Tang, Jiyu Liu, Jieyi Zhang et al.

Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry measurements. To solve this problem, this paper introduces RFTrans, an RGB-D-based method for surface normal estimation and manipulation of transparent objects. By leveraging refractive flow as an intermediate representation, the proposed method circumvents the drawbacks of directly predicting the geometry (e.g. surface normal) from images and helps bridge the sim-to-real gap. It integrates the RFNet, which predicts refractive flow, object mask, and boundaries, followed by the F2Net, which estimates surface normal from the refractive flow. To make manipulation possible, a global optimization module will take in the predictions, refine the raw depth, and construct the point cloud with normal. An off-the-shelf analytical grasp planning algorithm is followed to generate the grasp poses. We build a synthetic dataset with physically plausible ray-tracing rendering techniques to train the networks. Results show that the proposed method trained on the synthetic dataset can consistently outperform the baseline method in both synthetic and real-world benchmarks by a large margin. Finally, a real-world robot grasping task witnesses an 83% success rate, proving that refractive flow can help enable direct sim-to-real transfer. The code, data, and supplementary materials are available at https://rftrans.robotflow.ai.

Jiyu Liu, Yong Huang, Yanzhao Lu et al.

This paper studies the creation of textual descriptions of user activities and interactions on smartphones. Our approach of referring to encrypted mobile traffic exceeds traditional smartphone activity classification methods in terms of model scalability and output readability. The paper addresses two obstacles to the realization of this idea: the semantic gap between traffic features and smartphone activity captions, and the lack of textually annotated traffic data. To overcome these challenges, we introduce a novel smartphone activity captioning system, called T2T (Traffic-to-Text). T2T consists of a flow feature encoder that converts low-level traffic characteristics into meaningful latent features and a caption decoder to yield readable transcripts of smartphone activities. In addition, T2T achieves the automatic textual annotation of mobile traffic by feeding synchronized screen capture videos into the Qwen-VL-Max vision-language model, and proposing multi-stage losses for effective cross-model training. We evaluate T2T on 40,000 traffic-description pairs collected in two real-world environments, involving 8 smartphone users and 20 mobile apps. T2T achieves a BLEU-4 score of 58.1, a METEOR score of 38.3, a ROUGE-L score of 70.5, and a CIDEr score of 108.7. The quantitative and qualitative analyses show that T2T can generate semantically accurate captions that are comparable to the vision-language model.