Related papers: Error Identification and Recovery in Robotic Snap …
Effective error detection is crucial to prevent task disruption and maintain user trust. Traditional methods often rely on task-specific models or user reporting, which can be inflexible or slow. Recent research suggests social signals,…
An error control technique aimed to assess the quality of smoothed finite element approximations is presented in this paper. Finite element techniques based on strain smoothing appeared in 2007 were shown to provide significant advantages…
Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…
The accurate estimation of 6D pose remains a challenging task within the computer vision domain, even when utilizing 3D point cloud data. Conversely, in the manufacturing domain, instances arise where leveraging prior knowledge can yield…
Rolling element bearings are critical components in rotating machinery, and their condition significantly influences system performance, reliability, and operational lifespan. Timely and accurate fault detection is essential to prevent…
This paper addresses the challenges of Rhythmic Insertion Tasks (RIT), where a robot must repeatedly perform high-precision insertions, such as screwing a nut into a bolt with a wrench. The inherent difficulty of RIT lies in achieving…
Industrial prognostics aims to develop data-driven methods that leverage high-dimensional degradation signals from assets to predict their failure times. The success of these models largely depends on the availability of substantial…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…
In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…
Robotics has proved to be an indispensable tool in many industrial as well as social applications, such as warehouse automation, manufacturing, disaster robotics, etc. In most of these scenarios, damage to the agent while accomplishing…
We develop a novel generative model to simulate vehicle health and forecast faults, conditioned on practical operational considerations. The model, trained on data from the US Army's Predictive Logistics program, aims to support predictive…
Catastrophic failures of marine engines imply severe loss of functionality and destroy or damage the systems irreversibly. Being sudden and often unpredictable events, they pose a severe threat to navigation, crew, and passengers. The…
In this paper, we revisit traditional checkpointing and rollback recovery strategies, with a focus on silent data corruption errors. Contrarily to fail-stop failures, such latent errors cannot be detected immediately, and a mechanism to…
Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…
Predicting power system component outages in response to an imminent hurricane plays a major role in preevent planning and post-event recovery of the power system. An exact prediction of components states, however, is a challenging task and…
With the increasing number of compute components, failures in future exa-scale computer systems are expected to become more frequent. This motivates the study of novel resilience techniques. Here, we extend a recently proposed…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…