Related papers: CoBRA: A Composable Benchmark for Robotics Applica…
Social compatibility is one of the most important parameters for service robots. It characterizes the quality of interaction between a robot and a human. In this paper, a human-centered benchmarking framework is proposed for…
Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…
We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…
This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed…
Selecting the right compiler optimisations has a severe impact on programs' performance. Still, the available optimisations keep increasing, and their effect depends on the specific program, making the task human intractable. Researchers…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
Mobile robots are increasingly deployed in cluttered environments with movable objects, posing challenges for traditional methods that prohibit interaction. In such settings, the mobile robot must go beyond traditional obstacle avoidance,…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Although LLM-based agents have attracted significant attention in domains such as software engineering and machine learning research, their role in advancing combinatorial optimization (CO) remains relatively underexplored. This gap…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
Robotics have recently contributed to cosmological spectroscopy to automatically obtain the map of the observable universe using robotic fiber positioners. For this purpose, an assignment algorithm is required to assign each robotic fiber…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Benchmark experiments are required to test, compare, tune, and understand optimization algorithms. Ideally, benchmark problems closely reflect real-world problem behavior. Yet, real-world problems are not always readily available for…
Vision-language-action (VLA) models have shown promise as generalist robotic policies by jointly leveraging visual, linguistic, and proprioceptive modalities to generate action trajectories. While recent benchmarks have advanced VLA…
Machine learning practitioners often compare the results of different classifiers to help select, diagnose and tune models. We present Boxer, a system to enable such comparison. Our system facilitates interactive exploration of the…
Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static task features or simply replan when environmental changes…
Insufficient performance of optimization approaches for fitting of mathematical models is still a major bottleneck in systems biology. In this manuscript, the reasons and methodological challenges are summarized as well as their impact in…