Related papers: A robophysical model of spacetime dynamics
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
The formulation of General Relativity in which the 4-dimensional space-time is embedded in a flat host space of higher dimension is reconsidered. New classes of embeddings (modeled after Nash's classical free embeddings) are introduced.…
We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…
Curvature plays a central role in the proper function of many biological processes. With active matter being a standard framework for understanding many aspects of the physics of life, it is natural to ask what effect curvature has on the…
We present an elastic constitutive model of gravity where we identify physical space with the mid-hypersurface of an elastic hyperplate called the "cosmic fabric" and spacetime with the fabric's world volume. Using a Lagrangian formulation,…
We revise general relativity (GR) from the perspective of calculus for moving surfaces (CMS). While GR is intrinsically constructed in pseudo-Riemannian geometry, a complete understanding of moving manifolds requires embedding in a higher…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
Recently, in a series of papers, we established the existence and found a general solution for the simultaneously rotating and twisting locally rotationally symmetric spacetimes in general relativity, which can model inhomogeneous and…
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…
The geometric foundations of General Relativity are revisited, with particular attention to its gauge invariance, as a key to understanding the true nature of spacetime. Beyond the common image of spacetime as a deformable 'fabric' filling…
We provide a new extension of general relativity (GR) which has the remarkable property of being more constrained than GR plus a cosmological constant, having one less free parameter. This is implemented by allowing the cosmological…
Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
A spherically symmetric comoving fluid solution of Einstein's equations is adapted for cosmological application by extending the geometry of standard FRW cosmology using a generalised curvature term. The resulting model retains many of the…
Swimming in curved spacetimes is a phenomenon whereby free bodies in curved spacetimes are able to propel themselves by performing cyclic internal motions. When originally proposed, it was further suggested that, in the limit of fast…
Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…