Related papers: A robophysical model of spacetime dynamics
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
The notion that the geometry of our space-time is not only a static background but can be physically dynamic is well established in general relativity. Geometry can be described as shaped by the presence of matter, where such shaping…
Space-time measurements, of gedanken experiments of special relativity need modification in curved spaces-times. It is found that in a space-time with metric $g$, the special relativistic factor $\gamma$, has to be replaced by…
We have probed a cosmological model in $f(R)$-gravity, which is a cubic equation in scalar curvature $R$. The terms arise due to nonlinear $f(R)$ function are treated as energy due to curvature inspired geometry. As a result, we find…
In this work we have investigated the dynamics of a recent modification to the general theory of relativity, the energy-momentum squared gravity model $f(R,\mathbf{T^2})$, where $R$ represents the scalar curvature and $\mathbf{T^2}$ the…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
A large number of powerful, high-quality, and open-source simulation packages exist to efficiently perform molecular dynamics simulations, and their prevalence has greatly accelerated discoveries across a wide range of scientific domains.…
Starting from the equations of motion in a 1 + 1 static, diagonal, Lorentzian spacetime, such as the Schwarzschild radial line element, I find another metric, but with Euclidean signature, which produces the same geodesics x(t). This…
We consider general curvature-invariant modifications of the Einstein-Hilbert action that become important only in regions of extremely low space-time curvature. We investigate the far future evolution of the universe in such models,…
Entropic dynamics is a framework in which quantum theory is derived as an application of entropic methods of inference. Entropic dynamics on flat spaces has been extensively studied. The objective of this paper is to extend the entropic…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
We study the dynamics of a particle in continuous time and space, the displacement of which is governed by an internal degree of freedom (spin). In one definite limit, the so-called quantum random walk is recovered but, although quite…
Equivalence principles are a major part of modern relativity theory. Gravitational shifts can already be calculated within the time domain as motion shifts, and we examine the consequences of reversing this argument and describing motion…