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Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary in tasks that involve contact-rich motion. In this work, we leverage surprise from mismatches in touch feedback…
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a…
Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…
Damped-driven systems are ubiquitous in science, however the damping and driving mechanisms are often quite convoluted. This manuscript presents an experimental and theoretical investigation of a fluidic droplet on a vertically vibrating…
Many engineering and scientific workflows rely on expensive black-box evaluations, requiring sequential decisions that must both improve task performance and reduce uncertainty. Bayesian optimization (BO) and Bayesian experimental design…
The process of scientific discovery relies on an interplay of observations, analysis, and hypothesis generation. Machine learning is increasingly being adopted to address individual aspects of this process. However, it remains an open…
The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…
Large-scale electrification is vital to addressing the climate crisis, but several scientific and technological challenges remain to fully electrify both the chemical industry and transportation. In both of these areas, new electrochemical…
Cyclic cellular automata (CCA) are models of excitable media. Started from random initial conditions, they produce several different kinds of spatial structure, depending on their control parameters. We introduce new tools from information…
Collective behaviors such as swarming, chemical signaling, and clustering are fundamental to biological microorganisms, enabling hierarchical colony formation, coordinated motion, and enhanced nutrient accessibility crucial for their…
Earlier works found out spontaneous directional motion of liquid droplets on hydrophilic conical surfaces, however, not hydrophobic case. Here we show that droplets on any surface may take place spontaneous directional motion without…
Domain adaptation is a common problem in robotics, with applications such as transferring policies from simulation to real world and lifelong learning. Performing such adaptation, however, requires informative data about the environment to…
A typical assumption in state-of-the-art self-localization models is that an annotated training dataset is available for the target workspace. However, this is not necessarily true when a robot travels around the general open world. This…
The design of recommendations strategies in the adaptive learning system focuses on utilizing currently available information to provide individual-specific learning instructions for learners. As a critical motivate for human behaviors,…
Large language models (LLMs) have shown remarkable potential in various domains, but they often lack the ability to access and reason over domain-specific knowledge and tools. In this paper, we introduced CACTUS (Chemistry Agent Connecting…
In recent years, knowledge distillation (KD) has been widely used to derive efficient models. Through imitating a large teacher model, a lightweight student model can achieve comparable performance with more efficiency. However, most…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…
In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…