Related papers: A Landauer Limit for Robotic Manipulation
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control.…
Automated chemical synthesis carries great promises of safety, efficiency and reproducibility for both research and industry laboratories. Current approaches are based on specifically-designed automation systems, which present two major…
The speed limits on entanglement are defined as the maximal rate at which entanglement can be generated or degraded in a physical process. We derive the speed limits on entanglement, using the relative entropy of entanglement and…
Acquiring human skills offers an efficient approach to tackle complex task planning challenges. When performing a learned skill model for a continuous contact task, such as robot polishing in an uncertain environment, the robot needs to be…
Classical and quantum error correction are presented in the form of Maxwell's demon and their efficiency analyzed from the thermodynamic point of view. We explain how Landauer's principle of information erasure applies to both cases. By…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Neural scaling laws have driven significant advancements in machine learning, particularly in domains like language modeling and computer vision. However, the exploration of neural scaling laws within robotics has remained relatively…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
The use of machine learning algorithms to predict behaviors of complex systems is booming. However, the key to an effective use of machine learning tools in multi-physics problems, including combustion, is to couple them to physical and…
In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Transformers are able to perform reasoning tasks, however the intrinsic mechanism remains widely open. In this paper we propose a set of information propagation rules based on Transformers and utilize symbolic reasoning tasks to…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Landauer's principle gives a fundamental limit to the thermodynamic cost of erasing information. Its saturation requires a reversible isothermal process, and hence infinite time. We develop a finite-time version of Landauer's principle for…
Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviours to take hold,…
The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…