Related papers: Locosim: an Open-Source Cross-Platform Robotics Fr…
In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Scalable and efficient numerical simulations continue to gain importance, as computation is firmly established as the third pillar of discovery, alongside theory and experiment. Meanwhile, the performance of computing hardware grows through…
Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faithfully capture snap-fit mechanics. We present BrickSim, the…
To reduce the carbon footprint of computing and stabilize electricity grids, there is an increasing focus on approaches that align the power usage of IT infrastructure with the availability of clean energy. Unfortunately, research on…
Despite well-reported instances of robots being used in disaster response, there is scant published data on the internal composition of the void spaces within structural collapse incidents. Data collected during these incidents is mired in…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
With the rapid growth of urban transportation and the continuous progress in autonomous driving, a demand for robust benchmarking autonomous driving algorithms has emerged, calling for accurate modeling of large-scale urban traffic…
The increasing demand for electronics is driving shorter development cycles for application-specific integrated circuits (ASICs). To meet these constraints, hardware designers emphasize reusability and modularity of IP blocks, leveraging…
This paper proposes a novel simulator IoTSim-Edge, which captures the behavior of heterogeneous IoT and edge computing infrastructure and allows users to test their infrastructure and framework in an easy and configurable manner.…
The design of structural & functional materials for specialized applications is being fueled by rapid advancements in materials synthesis, characterization, manufacturing, with sophisticated computational materials modeling frameworks that…
A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically challenging due to the stochasticity, reproducibility, and…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of…
High-fidelity physics simulation is essential for closing the sim-to-real gap in robotics and complex mechanical systems. However, the computational overhead of high-fidelity engines often limits their use in data-intensive tasks like…
Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of scalable simulated robotic tasks. Foundation models have…
Physically-realistic simulated environments are powerful platforms for enabling measurable, replicable and statistically-robust investigation of complex robotic systems. Such environments are epitomised by the RoboCup simulation leagues,…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
SLAM technology has recently seen many successes and attracted the attention of high-technological companies. However, how to unify the interface of existing or emerging algorithms, and effectively perform benchmark about the speed,…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…