SensorPerch：让感知随时随地发生
SensorPerch: Sense Wherever and Whenever it Matters
Zhanxin Wu, Ruofei Tong, Tapomayukh Bhattacharjee
AI 速览：提出将传感器视为可被机器人自主拆卸与重新附着于环境的独立物理实体，并实现轻量无线可重构传感器平台与视角选择框架，以按需构建任务相关视角。
Existing robotic perception is constrained by sensors that are either robot-mounted or permanently fixed in the environment, locking perception to a limited set of viewpoints. Yet as robots perform increasingly diverse tasks, the most informative viewpoint shifts from one task to the next-often somewhere onboard sensor and static infrastructure can not readily satisfy. 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 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 the 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.