Related papers: Slaving and disabling actuators with voice-coil ad…
We apply robust control technics to an adaptive optics system including a dynamic model of the deformable mirror. The dynamic model of the mirror is a modification of the usual plate equation. We propose also a state-space approach to model…
Attention-based models are appealing for multimodal processing because inputs from multiple modalities can be concatenated and fed to a single backbone network - thus requiring very little fusion engineering. The resulting representations…
The latest high-performance telescopes for deep space observation employ very large primary mirrors that are made of smaller segments, like the JWST which employs monolithic beryllium hexagonal segments. A very promising development stage…
Pretrained Masked Language Models (MLMs) have revolutionised NLP in recent years. However, previous work has indicated that off-the-shelf MLMs are not effective as universal lexical or sentence encoders without further task-specific…
Suspended resonant optical cavities are basic building blocks for several experimental devices. An important issue is the control strategy required to bring them in the resonant or slightly detuned configuration needed for their operation,…
Vision-Language-Action (VLA) models are multimodal robotic task controllers that, given an instruction and visual inputs, produce a sequence of low-level control actions (or motor commands) enabling a robot to execute the requested task in…
Recent studies have explored the use of large language models (LLMs) in psychotherapy; however, text-based cognitive behavioral therapy (CBT) models often struggle with client resistance, which can weaken therapeutic alliance. To address…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
In this paper we present a satisfiability-preserving reduction from MITL interpreted over finitely-variable continuous behaviors to Constraint LTL over clocks, a variant of CLTL that is decidable, and for which an SMT-based bounded…
For sufficiently wide ranges of applied control signals (control voltages), MEMS and piezoelectric Deformable Mirrors (DMs), exhibit nonlinear behavior. The nonlinear behavior manifests itself in nonlinear actuator couplings, nonlinear…
We propose and test an iterative technique for improving the temporal focusing of a time reversal mirror. A single amplification parameter is introduced to tune the convergence of the iteration. The tunable iterative technique is validated…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data…
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,…
Advances in micro deformable mirror (DM) technologies such as MEMs, have stimulated interest in the characteristics of systems that include a high stroke mirror in series with a high actuator count mirror. This arrangement is referred to as…
Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…
This paper aims to efficiently enable Large Language Models (LLMs) to use multimodal tools. Advanced proprietary LLMs, such as ChatGPT and GPT-4, have shown great potential for tool usage through sophisticated prompt engineering.…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
Closed-loop adaptive optics systems which use minimum mean square error wavefront reconstruction require the computation of pseudo open loop wavefront slopes. These techniques incorporate a knowledge of atmospheric statistics which must…