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We describe the design and implementation of a reasoning engine that facilitates the gamification of loop-invariant discovery. Our reasoning engine enables students, computational agents and regular software engineers with no formal methods…

Center touchscreens are the main HMI (Human-Machine Interface) between the driver and the vehicle. They are becoming, larger, increasingly complex and replace functions that could previously be controlled using haptic interfaces. To ensure…

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…

Machine learning can provide efficient solutions to the complex problems encountered in autonomous driving, but ensuring their safety remains a challenge. A number of authors have attempted to address this issue, but there are few…

In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…

Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…

This paper outlines the development and evaluation of a wearable haptic game interface. The device differs from many traditional haptic feedback implementation in that it combines vibrotactile feedback with gesture based input, thus…

Large-scale and diverse datasets are vital for training robust robotic manipulation policies, yet existing data collection methods struggle to balance scale, diversity, and quality. Simulation offers scalability but suffers from sim-to-real…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…

In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…

Driving is a complex task carried out under the influence of diverse spatial objects and their temporal interactions. Therefore, a sudden fluctuation in driving behavior can be due to either a lack of driving skill or the effect of various…

Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and struggle to capture physically consistent interactions over…

Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

The mirror game has been recently proposed as a simple, yet powerful paradigm for studying interpersonal interactions. It has been suggested that a virtual partner able to play the game with human subjects can be an effective tool to affect…

MimicKit is an open-source framework for training motion controllers using motion imitation and reinforcement learning. The codebase provides implementations of commonly-used motion-imitation techniques and RL algorithms. This framework is…

From colored pixels to hyper-realistic 3D landscapes of virtual reality, video games have evolved immensely over the last few decades. However, video game input still requires two-handed dexterous finger manipulations for simultaneous…

Existing pose estimation models perform poorly on wheelchair users due to a lack of representation in training data. We present a data synthesis pipeline to address this disparity in data collection and subsequently improve pose estimation…