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We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature, bank and slope. We show that the proposed modeling approach…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Nonlinear model predictive control (NMPC) has gained widespread use in many applications. Its formulation traditionally involves repetitively solving a nonlinear constrained optimization problem online. In this paper, we investigate NMPC…
A two-layer control architecture is proposed to enable scalable implementations for constraint-based decision strategies, such as model predictive controllers. The bottom layer is based upon a distributed feedback-feedforward scheme that…
While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…
While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains…
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
In this paper, we present MVC-3D design pattern to develop virtual and augmented (or mixed) reality interfaces that use new types of sensors, modalities and implement specific algorithms and simulation models. The proposed pattern…
Extensive work has demonstrated the effectiveness of Vision Transformers. The plain Vision Transformer tends to obtain multi-scale features by selecting fixed layers, or the last layer of features aiming to achieve higher performance in…
The well-known Unified Modeling Language (UML) describes software entities, such as interfaces, classes, operations and attributes, as well as relationships among them, e.g. inheritance, containment and dependency. The power of UML lies in…
Nonlinear dynamics and safety constraints typically result in a nonlinear programming problem when applying model predictive control to achieve safe output consensus. To avoid the heavy computational burden of solving a nonlinear…
The concept bottleneck model (CBM), as a technique improving interpretability via linking predictions to human-understandable concepts, makes high-risk and life-critical medical image classification credible. Typically, existing CBM methods…
Neural reflectance models are capable of reproducing the spatially-varying appearance of many real-world materials at different scales. Unfortunately, existing techniques such as NeuMIP have difficulties handling materials with strong…
Large language models have shown their remarkable capabilities as a general interface for various language-related applications. Motivated by this, we target to build a unified interface for completing many vision-language tasks including…
Generating a detailed near-field perceptual model of the environment is an important and challenging problem in both self-driving vehicles and autonomous mobile robotics. A Bird Eye View (BEV) map, providing a panoptic representation, is a…
MCC is a tool designed for a very specific task: to transform the models of High-Level Petri nets, given in the PNML syntax, into equivalent Place/Transition nets. The name of the tool derives from the annual Model-Checking Contest, a…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
The promise of multimodal models for real-world applications has inspired research in visualizing and understanding their internal mechanics with the end goal of empowering stakeholders to visualize model behavior, perform model debugging,…