Related papers: DQ Robotics: a Library for Robot Modeling and Cont…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
We utilize hybrid quantum deep reinforcement learning to learn navigation tasks for a simple, wheeled robot in simulated environments of increasing complexity. For this, we train parameterized quantum circuits (PQCs) with two different…
A quantum spin-1/2, and its associated su(2) algebra of Pauli spin matrices are familiarly linked to Clifford algebra and quaternions. Somewhat more loosely, we develop connections between the su(4) algebra of two spins and of its…
Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which is the accuracy with which these QPs should be solved. QP…
In this paper we define infinite-dimensional algebra and its representation, whose basis is naturally identified with semi-infinite configurations of the square ladder model. We also extrapolate the ideas for the cyclic 3-leg triangular…
Deep neural networks (DNNs) have been widely deployed across diverse domains such as computer vision and natural language processing. However, the impressive accomplishments of DNNs have been realized alongside extensive computational…
An important field in robotics is the optimization of controllers. Currently, robots are often treated as a black box in this optimization process, which is the reason why derivative-free optimization methods such as evolutionary algorithms…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
In this article, we give the most genaral form of the quaternions algebra depending on 3-parameters. We define 3-parameter generalized quaternions (3PGQs) and study on various properties and applications. Firstly we present the definiton,…
Quaternions often appear in wide areas of applied science and engineering such as wireless communications systems, mechanics, etc. It is known that are two types of non-isomorphic generalized quaternion algebras, namely: the algebra of…
Digital twins are sophisticated software systems for the representation, monitoring, and control of cyber-physical systems, including automotive, avionics, smart manufacturing, and many more. Existing definitions and reference models of…
This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…
The fundamental properties of biquaternions (complexified quaternions) are presented including several different representations, some of them new, and definitions of fundamental operations such as the scalar and vector parts, conjugates,…
In this paper we present the solver DuQuad specialized for solving general convex quadratic problems arising in many engineering applications. When it is difficult to project on the primal feasible set, we use the (augmented) Lagrangian…
In this paper, we propose a novel task, Manipulation Question Answering (MQA), where the robot performs manipulation actions to change the environment in order to answer a given question. To solve this problem, a framework consisting of a…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
We discuss the relationship between quaternion algebras and quadratic forms with a focus on computational aspects. Our basic motivating problem is to determine if a given algebra of rank 4 over a commutative ring R embeds in the 2x2-matrix…
Novel types of convolution operators for quaternion linear canonical transform (QLCT) are proposed. Type one and two are defined in the spatial and QLCT spectral domains, respectively. They are distinct in the quaternion space and are…