Related papers: Reasoning About Liquids via Closed-Loop Simulation
In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simulator, which closely resembles reality. Many times, a…
In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal…
Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in an efficient manner. Yet, robot simulators inevitably exhibit disparities from the real-world…
Can the theory that reality is a simulation be tested? We investigate this question based on the assumption that if the system performing the simulation is finite (i.e. has limited resources), then to achieve low computational complexity,…
This report describes a new experimental setup for human-in-the-loop simulations. A force feedback simulator with four axis motion has been setup for real-time driving experiments. The simulator will move to simulate the forces a driver…
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called…
While large language models (LLMs) excel in mathematical and code reasoning, we observe they struggle with social reasoning tasks, exhibiting cognitive confusion, logical inconsistencies, and conflation between objective world states and…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…
Deep Learning experiments have critical requirements regarding the careful handling of their datasets as well as the efficient and correct usage of APIs that interact with hardware accelerators. On the one hand, software mistakes during…
The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…
Conversational Recommender System (CRS) interacts with users through natural language to understand their preferences and provide personalized recommendations in real-time. CRS has demonstrated significant potential, prompting researchers…
Large Language Models (LLMs) are increasingly used to power autonomous agents for complex, multi-step tasks. However, human-agent interaction remains pointwise and reactive: users approve or correct individual actions to mitigate immediate…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…