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Reinforcement learning (RL) has progressed substantially over the past decade, with much of this progress being driven by benchmarks. Many benchmarks are focused on video or board games, and a large number of robotics benchmarks lack…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks. However, the simplicity of tasks and the uniformity of environments in existing benchmarks restrict their effective…
Considering how to make the model accurately understand and follow natural language instructions and perform actions consistent with world knowledge is a key challenge in robot manipulation. This mainly includes human fuzzy instruction…
Even with impressive advances in application-specific models, we still lack knowledge about how to build a model that can learn in a human-like way and do multiple tasks. To learn in a human-like way, we need to provide a diverse experience…
In this paper, we introduce OpenSocInt, an open-source software package providing a simulator for multi-modal social interactions and a modular architecture to train social agents. We described the software package and showcased its…
We propose RecSim, a configurable platform for authoring simulation environments for recommender systems (RSs) that naturally supports sequential interaction with users. RecSim allows the creation of new environments that reflect particular…
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…
OpenScout is an Open Source Hardware (OSH) mobile robot for research and industry. It is extended to v1.1 which includes simplified, cheaper and more powerful onboard compute hardware; a simulated ROS2 interface; and a Gazebo simulation.…
As robotics matures and increases in complexity, it is more necessary than ever that robot autonomy research be reproducible. Compared to other sciences, there are specific challenges to benchmarking autonomy, such as the complexity of the…
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single…
The Pepper and NAO robots are widely used for in-store advertizing and education, but also as robotic platforms for research purposes. Their presence in the academic field is expressed through various publications, multiple collaborative…
RooFit is a library of C++ classes that facilitate data modeling in the ROOT environment. Mathematical concepts such as variables, (probability density) functions and integrals are represented as C++ objects. The package provides a flexible…
Learning robot manipulation through deep reinforcement learning in environments with sparse rewards is a challenging task. In this paper we address this problem by introducing a notion of imaginary object goals. For a given manipulation…
Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…
Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
The number of tools for dynamics simulation has grown in the last years. It is necessary for the robotics community to have elements to ponder which of the available tools is the best for their research. As a complement to an objective and…
Runko is a new open-source plasma simulation framework implemented in C++ and Python. It is designed to function as an easy-to-extend general toolbox for simulating astrophysical plasmas with different theoretical and numerical models.…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…