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We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

Deep neural networks (DNNs) have excellent representative power and are state of the art classifiers on many tasks. However, they often do not capture their own uncertainties well making them less robust in the real world as they…

Automated feature extraction capability and significant performance of Deep Neural Networks (DNN) make them suitable for Internet of Things (IoT) applications. However, deploying DNN on edge devices becomes prohibitive due to the colossal…

Knowledge distillation is the process of transferring the knowledge from a large model to a small model. In this process, the small model learns the generalization ability of the large model and retains the performance close to that of the…

Orthogonal Frequency Division Multiplexing (OFDM) is the dominant waveform in modern wireless systems, but suffers performance degradation in high-mobility environments due to Doppler-induced inter-carrier interference and unreliable…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Deep neural networks (DNN) are black box algorithms. They are trained using a gradient descent back propagation technique which trains weights in each layer for the sole goal of minimizing training error. Hence, the resulting weights cannot…

Deep neural networks are among the most widely applied machine learning tools showing outstanding performance in a broad range of tasks. We present a method for folding a deep neural network of arbitrary size into a single neuron with…

Simulation of multiphase flow in porous media is crucial for the effective management of subsurface energy and environment related activities. The numerical simulators used for modeling such processes rely on spatial and temporal…

Knowledge distillation (KD) techniques have emerged as a powerful tool for transferring expertise from complex teacher models to lightweight student models, particularly beneficial for deploying high-performance models in…

Complicated first principles modelling and controller synthesis can be prohibitively slow and expensive for high-mix, low-volume products such as hydraulic excavators. Instead, in a data-driven approach, recorded trajectories from the real…

Structural optimization is essential for designing safe, efficient, and durable components with minimal material usage. Traditional methods for vibration control often rely on active systems to mitigate unpredictable vibrations, which may…

The fast adaptation capability of deep neural networks in non-stationary environments is critical for online time series forecasting. Successful solutions require handling changes to new and recurring patterns. However, training deep neural…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

In an ever expanding set of research and application areas, deep neural networks (DNNs) set the bar for algorithm performance. However, depending upon additional constraints such as processing power and execution time limits, or…

While deep learning has resulted in major breakthroughs in many application domains, the frameworks commonly used in deep learning remain fragile to artificially-crafted and imperceptible changes in the data. In response to this fragility,…

For many systems in science and engineering, the governing differential equation is either not known or known in an approximate sense. Analyses and design of such systems are governed by data collected from the field and/or laboratory…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

We introduce Dynamic Deep Neural Networks (D2NN), a new type of feed-forward deep neural network that allows selective execution. Given an input, only a subset of D2NN neurons are executed, and the particular subset is determined by the…

Understanding the learning dynamics of neural networks is one of the key issues for the improvement of optimization algorithms as well as for the theoretical comprehension of why deep neural nets work so well today. In this paper, we…