Related papers: Assessing virtualization effects in simulations of…
When comparing two distributions, it is often helpful to learn at which quantiles or values there is a statistically significant difference. This provides more information than the binary "reject" or "do not reject" decision of a global…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…
Continuous-time Markov process models of contagions are widely studied, not least because of their utility in predicting the evolution of real-world contagions and in formulating control measures. It is often the case, however, that…
Quantum transport simulations often use explicit, yet finite, electronic reservoirs. These should converge to the correct continuum limit, albeit with a trade-off between discretization and computational cost. Here, we study this interplay…
Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…
Sport-related concussion (SRC) depends on sensory information from visual, vestibular, and somatosensory systems. At the same time, the current clinical administration of Vestibular/Ocular Motor Screening (VOMS) is subjective and deviates…
Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…
The safety of single-vehicle autonomous driving technology is limited due to the limits of perception capability of on-board sensors. In contrast, vehicle-road collaboration technology can overcome those limits and improve the traffic…
The fidelity of financial market simulation is restricted by the so-called "non-identifiability" difficulty when calibrating high-frequency data. This paper first analyzes the inherent loss of data information in this difficulty, and…
We report results obtained and insights gained while answering the following question: how effective is it to use a simulator to establish path following control policies for an autonomous ground robot? While the quality of the simulator…
Virtual content in Augmented Reality (AR) applications can be constructed according to the designer's requirements, but real environments, are difficult to be accurate control or completely reproduce. This makes it difficult to prototype AR…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
This study reviews the impact of personalization on human-robot interaction. Firstly, the various strategies used to achieve personalization are briefly described. Secondly, the effects of personalization known to date are discussed. They…
We introduce the concept of virtual volatility. This simple but new measure shows how to quantify the uncertainty in the forecast of the drift component of a random walk. The virtual volatility also is a useful tool in understanding the…
Network designers, planners, and security professionals increasingly rely on large-scale virtual testbeds to emulate networks and make decisions about real-world deployments. However, there has been limited research on how well these…
An important prerequisite for the reliability and robustness of a service robot is ensuring the robot's correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural…
The combination of theory and simulation is necessary in the investigation of properties of complex systems where each method alone cannot do the task properly. Theory needs simulation to test ideas and to check approximations. Simulation…
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a…