Liquids and granular media (e.g., oats, rice, lentils) are pervasive throughout human environments, yet remain challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach to integrating capacitive sensing within robotic end effectors, enabling robust sensing and precise manipulation of liquids and granular media. We introduce the parallel-jaw RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to directly sense the materials and dynamics of liquids inside diverse containers. Our system achieves 82.8% classification accuracy across 81 container–substance combinations, and enables a robotic manipulator to perform precision pouring with a mean error of 3.2g over 200 trials. Code, designs, and build details are available on the project website1.

Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of different types of containers made out of different materials with varying sizes, shapes, and colors. In this work, we present a state-of-the-art sensing technique for robots to perceive what liquid is inside of an unknown container. We do so by integrating Visible to Near Infrared (VNIR) reflectance spectroscopy into a robot's end effector. We introduce a hierarchical model for inferring the material classes of both containers and internal contents given spectral measurements from two integrated spectrometers. To train these inference models, we capture and open source a dataset of spectral measurements from over 180 different combinations of containers and liquids. Our technique demonstrates over 85% accuracy in identifying 13 different liquids and granular media contained within 13 different containers. The sensitivity of our spectral readings allow our model to also identify the material composition of the containers themselves with 96% accuracy. Overall, VNIR spectroscopy presents a promising method to give household robots a general-purpose ability to infer the liquids inside of containers, without needing to open or manipulate the containers.

MOTIVATION: Recent years have seen the release of several toolsets that reveal cell-cell interactions from single-cell data. However, all existing approaches leverage mean celltype gene expression values, and do not preserve the single-cell fidelity of the original data. Here, we present NICHES (Niche Interactions and Communication Heterogeneity in Extracellular Signaling), a tool to explore extracellular signaling at the truly single-cell level. RESULTS: NICHES allows embedding of ligand-receptor signal proxies to visualize heterogeneous signaling archetypes within cell clusters, between cell clusters and across experimental conditions. When applied to spatial transcriptomic data, NICHES can be used to reflect local cellular microenvironment. NICHES can operate with any list of ligand-receptor signaling mechanisms, is compatible with existing single-cell packages, and allows rapid, flexible analysis of cell-cell signaling at single-cell resolution. AVAILABILITY AND IMPLEMENTATION: NICHES is an open-source software implemented in R under academic free license v3.0 and it is available at http://github.com/msraredon/NICHES. Use-case vignettes are available at https://msraredon.github.io/NICHES/. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.