Related papers: Locosim: an Open-Source Cross-Platform Robotics Fr…
High-Level Synthesis (HLS) is increasingly popular for hardware design using C/C++ instead of Register-Transfer Level (RTL). To express concurrent hardware behavior in a sequential language like C/C++, HLS tools introduce constructs such as…
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…
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation due to interface- and dynamics-induced errors. We present…
Cross-platform development solutions can help to make software available on different devices and platforms. But these are normally restricted to preconfigured platforms and consider that each individual solution is equal or similar to each…
Despite recent major advances in robotics research, massive injections of capital into robotics startups, and significant market appetite for robotic solutions, large-scale real-world deployments of robotic systems remain relatively scarce…
In this article, a new generic higher-order finite-element framework for massively parallel simulations is presented. The modular software architecture is carefully designed to exploit the resources of modern and future supercomputers.…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
We present an open-source software framework for parameter-space exploration, named OACIS, which is useful to manage vast amount of simulation jobs and results in a systematic way. Recent development of high-performance computers enabled us…
Systematic testing of autonomous vehicles operating in complex real-world scenarios is a difficult and expensive problem. We present Paracosm, a reactive language for writing test scenarios for autonomous driving systems. Paracosm allows…
Computer systems can be found everywhere: in space, in our homes, in our cars, in our pockets, and sometimes even in our own bodies. For concerns of safety, economy, and convenience, it is important that such systems work correctly.…
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
We present StockSim, an open-source simulation platform for systematic evaluation of large language models (LLMs) in realistic financial decision-making scenarios. Unlike previous toolkits that offer limited scope, StockSim delivers a…
This paper reports on technical aspects of Plasma Operational Simulation (POPSIM), a research framework for data-driven simulation and control built in the machine learning framework JAX. The objective of the project is to address the…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
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.…
Modern architecture research relies on simulators to evaluate system security, yet analyzing emerging hardware vulnerabilities like RowHammer requires full-system visibility. As RowHammer vulnerabilities worsen with continuous technology…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…