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As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
High performance computing systems have historically been designed to support applications comprised of mostly monolithic, single-job workloads. Pilot systems decouple workload specification, resource selection, and task execution via job…
Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…
TOPCAT, the Tool for OPerations on Catalogues And Tables, is an interactive desktop application for retrieval, analysis and manipulation of tabular data, offering a powerful and flexible range of interactive visualization options amongst…
We present TASC, a Task-Aware Shared Control framework for teleoperated manipulation that infers task-level user intent and provides assistance throughout the task. To support everyday tasks without predefined knowledge, TASC constructs an…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
Computational micromagnetics has become an essential tool in academia and industry to support fundamental research and the design and development of devices. Consequently, computational micromagnetics is widely used in the community, and…
Scientific discovery via numerical simulations is important in modern astrophysics. This relatively new branch of astrophysics has become possible due to the development of reliable numerical algorithms and the high performance of modern…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…
The prevalence of scientific workflows with high computational demands calls for their execution on various distributed computing platforms, including large-scale leadership-class high-performance computing (HPC) clusters. To handle the…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under…
In computer animation, driving a simulated character with lifelike motion is challenging. Current generative models, though able to generalize to diverse motions, often pose challenges to the responsiveness of end-user control. To address…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
A tactical military unit is a complex system composed of many agents such as infantry, robots, or drones. Given a mission, an automated planner can find an optimal plan. Therefore, the mission itself must be modeled. The problem is that…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…