[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-85239-en":3,"doc-seo-85239-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},85239,1374391974564,"Clementine","https://ap-avatar.wpscdn.com/avatar/14000253aa45c000a9e?x-image-process=image/resize,m_fixed,w_180,h_180&k=1779874745381141002",8,"Research & Report","SensorPerch: Sense Wherever and Whenever it Matters","Existing robotic perception is constrained by sensing hardware that is either mounted on the robot or permanently fixed in the environment, which limits viewpoint coverage for diverse tasks. SensorPerch proposes active perception that decouples sensing from robot embodiment and environment by treating sensors as independent physical entities the robot can autonomously detach and re-attach. A lightweight wireless platform and a viewpoint-selection framework enable task-optimal sensor placements on demand. Experiments validate object-coupled and policy-coupled perception, matching oracle-view performance.","arXiv :2607 . 10682v1 [ cs .RO] 12 Jul 2026  \nSensorPerch: Sense Wherever and Whenever it Matters  \nZhanxin Wu*, Ruofei Tong*, Tapomayukh Bhattacharjee  \nCornell University  \nFig. 1: SensorPerch decouples sensing from both robot embodiment and the environment by treating sensors as independent physical entities that the robot can autonomously detach and re-attach in the environment.  \nAbstract—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 viewpointson 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.  \nI. INTRODUCTION  \nConsider a robot preparing breakfast in a kitchen and then stepping away to fold laundry while waiting for a pot to boil. The moment it leaves, information outside its field  \n⋆ Equal contribution.  \nof view, such as the pot beginning to boil over, becomes inaccessible even though it remains critical. As robots take on increasingly diverse tasks, this problem compounds, since each task demands its own viewpoint. Preparing breakfast may benefit from an angled view of the kitchen counter, while folding clothes may require a top-down view of the laundry table. As the robot transitions between tasks and locations, the set of task-relevant viewpoints shifts accordingly [1] . Yet existing robotic perception systems effectively lock sensing to a limited set of viewpoints: sensors are either rigidly mounted on the robot embodiment or permanently fixed in environmental infrastructure. Perception is therefore constrained to viewpoints the robot can physically occupy at a given moment, or those covered by pre-installed fixed infrastructure. This tight coupling between perception, robot embodiment, and infrastructure fundamentally limits a robot’s ability to perceive what each task requires.  \nRobotic perception has traditionally followed two paradigms: passive perception and active perception. Passive perception processes observations from fixed, predetermined viewpoints, which leaves it vulnerable to occlusion as the environment changes [2, 3] . Active perception extends this paradigm by allowing the robot to adjust its onboard sensors during execution, for instance by repositioning a wristmounted camera or articulating a robotic neck or head [4, 5] . While these approaches increase viewpoint flexibility, they share a common but often implicit assumption: sensors are  \nconstrained by the robot’s physical embodiment and the preinstalled infrastructure in the environment. Consequently, obtaining information outside the current field of view requires interrupting task execution to relocate the robot or manually setting up additional vi","cbCaiknDRT1Vd3mg","https://ap.wps.com/l/cbCaiknDRT1Vd3mg","pdf",11364462,2,1,9,"English","en",105,"# I. Introduction\n## Key Insight and Proposed Approach\n## Evaluation and Task Classes","[{\"question\":\"What limitation does SensorPerch address in existing robotic perception?\",\"answer\":\"It addresses the constraint that sensors are either robot-mounted or permanently fixed, which locks perception to limited viewpoints as tasks and required viewpoints change.\"},{\"question\":\"How does SensorPerch decouple sensing from the robot and environment?\",\"answer\":\"It treats sensors as independent physical entities that the robot can autonomously detach and re-attach anywhere within the environment.\"},{\"question\":\"What are the two task classes used to evaluate SensorPerch?\",\"answer\":\"Object-coupled perception for persistent object-state detection beyond the robot’s immediate field of view, and policy-coupled perception for constructing policy-specific viewpoints to support downstream inference.\"}]",1784201941,23,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"sensorperch-sense-wherever-and-whenever-it-matters","",{"@graph":36,"@context":85},[37,53,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,47,50],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":20},"https://docshare.wps.com/document/","Document",{"item":48,"name":12,"@type":43,"position":49},"https://docshare.wps.com/document/research-report/",3,{"item":51,"name":13,"@type":43,"position":52},"https://docshare.wps.com/document/sensorperch-sense-wherever-and-whenever-it-matters/85239/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":24,"description":14,"dateModified":61,"datePublished":62,"encodingFormat":60,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":41,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-23","2026-07-16",true,{"@type":65,"interactionType":66,"userInteractionCount":20},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"What limitation does SensorPerch address in existing robotic perception?","Question",{"text":75,"@type":76},"It addresses the constraint that sensors are either robot-mounted or permanently fixed, which locks perception to limited viewpoints as tasks and required viewpoints change.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"How does SensorPerch decouple sensing from the robot and environment?",{"text":80,"@type":76},"It treats sensors as independent physical entities that the robot can autonomously detach and re-attach anywhere within the environment.",{"name":82,"@type":73,"acceptedAnswer":83},"What are the two task classes used to evaluate SensorPerch?",{"text":84,"@type":76},"Object-coupled perception for persistent object-state detection beyond the robot’s immediate field of view, and policy-coupled perception for constructing policy-specific viewpoints to support downstream inference.","https://schema.org",{"og:url":51,"og:type":87,"og:title":13,"og:site_name":58,"og:description":14},"article",{"robots":89,"canonical":51},"index,follow",{"doc_id":7,"site_id":25},{"code":4,"msg":5,"data":92},[93,97,101,105,110,115,120,123,127,130,134],{"id":21,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":20,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":99,"slug":100},"Literature",80,"literature",{"id":52,"doc_module":4,"doc_module_name":46,"category_name":102,"show_sort_weight":103,"slug":104},"Exam",70,"exam",{"id":106,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},5,"Comic",60,"comic",{"id":111,"doc_module":4,"doc_module_name":46,"category_name":112,"show_sort_weight":113,"slug":114},6,"Technology",50,"technology",{"id":116,"doc_module":4,"doc_module_name":46,"category_name":117,"show_sort_weight":118,"slug":119},7,"Healthcare",40,"healthcare",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":121,"slug":122},30,"research-report",{"id":22,"doc_module":4,"doc_module_name":46,"category_name":124,"show_sort_weight":125,"slug":126},"Religion & Spirituality",20,"religion-spirituality",{"id":125,"doc_module":4,"doc_module_name":46,"category_name":128,"show_sort_weight":125,"slug":129},"World Cup","world-cup",{"id":131,"doc_module":4,"doc_module_name":46,"category_name":132,"show_sort_weight":131,"slug":133},10,"Lifestyle","lifestyle",{"id":135,"doc_module":4,"doc_module_name":46,"category_name":136,"show_sort_weight":106,"slug":137},19,"General","general"]