Related papers: Simulation-Based Optimization of High-Performance …
When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…
The construction of effective Recommender Systems (RS) is a complex process, mainly due to the nature of RSs which involves large scale software-systems and human interactions. Iterative development processes require deep understanding of a…
A number of different multiscale methods have been developed as a robust alternative to upscaling and as a means for accelerated reservoir simulation of high-resolution geomodels. In their basic setup, multiscale methods use a restriction…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
In this paper, we argue that simulation platforms enable a novel type of embodied spatial reasoning, one facilitated by a formal model of object and event semantics that renders the continuous quantitative search space of an open-world,…
We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…
Hydraulic systems are widely utilized in industrial applications due to their high force generation, precise control, and ability to function in harsh environments. Hydraulic cylinders, as actuators in these systems, apply force and…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Robotics simulation provides many advantages during the development of an intelligent ground vehicle (IGV) such as testing the software components in varying scenarios without requiring a complete physical robot. This paper discusses a 3D…
Multi working-machines pathfinding solution enables more mobile machines simultaneously to work inside of a working site so that the productivity can be expected to increase evolutionary. To date, the potential cooperation conflicts among…
Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ .…
Recent advances in imitative reinforcement learning (IRL) have considerably enhanced the ability of autonomous agents to assimilate expert demonstrations, leading to rapid skill acquisition in a range of demanding tasks. However, such…
Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world…
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…
We present a new approach to simulating Hamiltonian dynamics based on implementing linear combinations of unitary operations rather than products of unitary operations. The resulting algorithm has superior performance to existing simulation…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…