Related papers: CycleIK: Neuro-inspired Inverse Kinematics

Convolutional Neural Networks (CNNs) have gained a significant attraction in the recent years due to their increasing real-world applications. Their performance is highly dependent to the network structure and the selected optimization…

This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…

Ensuring energy-efficient design in neuromorphic computing systems necessitates a tailored architecture combined with algorithmic approaches. This manuscript focuses on enhancing brain-inspired perceptual computing machines through a novel…

Recent advancements have led to a proliferation of machine learning systems used to assist humans in a wide range of tasks. However, we are still far from accurate, reliable, and resource-efficient operations of these systems. For robot…

This work proves that semantic segmentation on minimally invasive surgical instruments can be improved by using training data that has been augmented through domain adaptation. The benefit of this method is twofold. Firstly, it suppresses…

Neural networks are a general framework for differentiable optimization which includes many other machine learning approaches as special cases. In this paper we build a category-theoretic formalism around a neural network system called…

In this work, we generalized and unified two recent completely different works of~\cite{shi2015large} and~\cite{cartis2012adaptive} respectively into one by proposing the cyclic incremental Newton-type gradient descent with cubic…

External and internal convertible (EIC) form-based motion control is one of the effective designs of simultaneously trajectory tracking and balance for underactuated balance robots. Under certain conditions, the EIC-based control design…

A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved with a quadratic, nonlinear, or model predictive…

This work introduces NOVAK, a modular gradient-based optimization algorithm that integrates adaptive moment estimation, rectified learning-rate scheduling, decoupled weight regularization, multiple variants of Nesterov momentum, and…

Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…

Mixed-signal implementations of SNNs offer a promising solution to edge computing applications that require low-power and compact embedded processing systems. However, device mismatch in the analog circuits of these neuromorphic processors…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive…

Synthetic medical image generation has evolved as a key technique for neural network training and validation. A core challenge, however, remains in the domain gap between simulations and real data. While deep learning-based domain transfer…

Artificial intelligence has advanced significantly through deep learning, reinforcement learning, and large language and vision models. However, these systems often remain task specific, struggle to adapt to changing conditions, and cannot…

Deep neural network has been ensured as a key technology in the field of many challenging and vigorously researched computer vision tasks. Furthermore, classical ResNet is thought to be a state-of-the-art convolutional neural network (CNN)…

An effective way to achieve intelligence is to simulate various intelligent behaviors in the human brain. In recent years, bio-inspired learning methods have emerged, and they are different from the classical mathematical programming…

Recently, deep learning approaches for accelerated MRI have been extensively studied thanks to their high performance reconstruction in spite of significantly reduced runtime complexity. These neural networks are usually trained in a…