Related papers: Simulation-Based Optimization of High-Performance …
Reinforcement learning has been demonstrated to outperform even the best humans in complex domains like video games. However, running reinforcement learning experiments on the required scale for autonomous driving is extremely difficult.…
Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…
Heterogeneous systems are present from powerful supercomputers, to mobile devices, including desktop computers, thanks to their excellent performance and energy consumption. The ubiquity of these architectures in both desktop systems and…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
For a wide variety of problems, creating detailed continuous models of (continuous) physical systems is, at the very least, impractical. Hybrid models can abstract away short transient behaviour (thus introducing discontinuities) in order…
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularly in tasks such as transport that demand accuracy and…
Numerical geodynamo simulations with parameters close to an Earth-like regime would be of great interest for understanding the dynamics of the Earth's liquid outer core and the associated geomagnetic field. Such simulations are far too…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
Consider a truck filled with boxes of varying size and unknown mass and an industrial robot with end-effectors that can unload multiple boxes from any reachable location. In this work, we investigate how would the robot with the help of a…
Reliable testing of autonomous driving systems requires simulation environments that combine large-scale traffic modeling with realistic 3D perception and terrain. Existing tools rarely capture real-world elevation, limiting their…
The transportation of essential goods in mountainous regions faces severe logistical challenges and frequent disruptions. To mitigate these difficulties, transport companies often overload trucks, which, though cost-saving, significantly…
Optimal locomotion and efficient traversal of extraterrestrial rovers in dynamic terrains and environments is an important problem statement in the field of planetary science and geophysical systems. Designing a superlative and efficient…
The validity of the subjective evaluation of steering feedback in driving simulators is crucial for modern vehicle development. Although there are established objective steering characteristics for the assessment of both stationary and…
The major advances in intelligent transportation systems are pushing societal services toward autonomy where road management is to be more agile in order to cope with changes and continue to yield optimal performance. However, the…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
Simulations of quantum transport in coherent conductors have evolved into mature techniques that are used in fields of physics ranging from electrical engineering to quantum nanoelectronics and material science. The most efficient…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Fieldwork still is the first and foremost source of insight in many disciplines of the geosciences. Virtual fieldwork is an approach meant to enable scientists trained in fieldwork to apply these skills to a virtual representation of…
Our autonomous driving simulation lab produces a high-precision 3D model simulating the parking lot. However, the current model still has poor rendering quality in some aspects. In this work, we develop a system to improve the rendering of…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…