Related papers: VICToRy: Visual Interactive Consistency Management…
Vision Transformers (ViTs) often degrade under distribution shifts because they rely on spurious correlations, such as background cues, rather than semantically meaningful features. Existing regularization methods, typically relying on…
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade, limited efforts have been made to improve the trajectory…
Transformer has achieved great successes in learning vision and language representation, which is general across various downstream tasks. In visual control, learning transferable state representation that can transfer between different…
Diffusion Transformers (DiT)-based video generation models with 3D full attention exhibit strong generative capabilities. Trajectory control represents a user-friendly task in the field of controllable video generation. However, existing…
Goal-oriented proactive dialogue systems are designed to guide user conversations seamlessly towards specific objectives by planning a goal-oriented path. However, previous research has focused predominantly on optimizing these paths while…
Guidance in image generation steers models towards higher-quality or more targeted outputs, typically achieved in Diffusion Models (DMs) via Classifier-free Guidance (CFG). However, recent Consistency Models (CMs), which offer fewer…
Many engineered as well as naturally occurring dynamical systems do not have an accurate mathematical model to describe their dynamic behavior. However, in many applications, it is possible to probe the system with external inputs and…
Simulation on directed graphs is an important method for understanding the dynamics in the systems where connectivity graphs contain cycles. Discrete Stochastic Heterogeneous Simulator (DiSH) is one of the simulation tools with wide…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…
Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…
Rule-based modeling is a powerful way to model kinetic interactions in biochemical systems. Rules enable a precise encoding of biochemical interactions at the resolution of sites within molecules, but obtaining an integrated global view…
Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
While transformer-based models have achieved state-of-the-art results in a variety of classification and generation tasks, their black-box nature makes them challenging for interpretability. In this work, we present a novel visual…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
The simulation-based testing is essential for safely implementing autonomous vehicles (AV) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a…
Coherence is an important aspect of text quality and is crucial for ensuring its readability. It is essential desirable for outputs from text generation systems like summarization, question answering, machine translation, question…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations of the environment. This limits their practical…