Related papers: A Convex Optimization-based Dynamic Model Identifi…
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…
Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods…
In precision medicine, Dynamic Treatment Regimes (DTRs) are treatment protocols that adapt over time in response to a patient's observed characteristics. A DTR is a set of decision functions that takes an individual patient's information as…
Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Continuous direct yaw moment control systems such as torque-vectoring controller are an essential part for vehicle stabilization. This controller has been extensively researched with the central objective of maintaining the vehicle…
Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…
We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
The goal of this work is to accelerate the identification of an unknown ARX system from trajectory data through online input design. Specifically, we present an active learning algorithm that sequentially selects the input to excite the…
This paper introduces new techniques for using convex optimization to fit input-output data to a class of stable nonlinear dynamical models. We present an algorithm that guarantees consistent estimates of models in this class when a small…
Existing model-based value expansion methods typically leverage a world model for value estimation with a fixed rollout horizon to assist policy learning. However, the fixed rollout with an inaccurate model has a potential to harm the…
Differential Dynamic Programming (DDP) has become a well established method for unconstrained trajectory optimization. Despite its several applications in robotics and controls however, a widely successful constrained version of the…
The automated generation of radiology diagnostic reports helps radiologists make timely and accurate diagnostic decisions while also enhancing clinical diagnostic efficiency. However, the significant imbalance in the distribution of data…
Data-Driven Response Regime Exploration and Identification (DR$^2$EI) is a novel and fully data-driven method for identifying and classifying response regimes of a dynamical system without requiring human intervention. This approach is a…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
We propose algorithms and software for computing projections onto the intersection of multiple convex and non-convex constraint sets. The software package, called SetIntersectionProjection, is intended for the regularization of inverse…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, high-fidelity visualizations…
Optimization problems emerging in most of the real-world applications are dynamic, where either the objective function or the constraints change continuously over time. This paper proposes projected primal-dual dynamical system approaches…