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An effective multi-turn instruction-following assistant can be developed by creating a simulator that can generate useful interaction data. Apart from relying on its intrinsic weights, an ideal user simulator should also be able to…
This article offers a literature review of goalkeeper robots in the context of the RoboCupSoccer competition. The latter is one of the various league categories hosted by the RoboCup Federation, which fosters AI and Robotics with their…
Simulation studies play a key role in the validation of causal inference methods. The simulation results are reliable only if the study is designed according to the promised operational conditions of the method-in-test. Still, many causal…
Understanding and reasoning about physics is an important ability of intelligent agents. We develop the PHYRE benchmark for physical reasoning that contains a set of simple classical mechanics puzzles in a 2D physical environment. The…
Current benchmarks for coding evaluate language models (LMs) on concrete, well-specified tasks such as fixing specific bugs or writing targeted tests. However, human programmers do not spend all day incessantly addressing isolated tasks.…
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…
We present a causality-based algorithm for solving two-player reachability games represented by logical constraints. These games are a useful formalism to model a wide array of problems arising, e.g., in program synthesis. Our technique for…
This article is a sequel to "GPU implementation of a ray-surface intersection algorithm in CUDA" (arXiv:2209.02878) [1]. Its main focus is PyCUDA which represents a Python scripting approach to GPU run-time code generation in the Compute…
Soccer, as a dynamic team sport, requires seamless coordination and integration of tactical strategies across all players. Adapting to new tactical systems is a critical but often challenging aspect of soccer at all professional levels.…
We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub simulators (iCub SIM, iCub Gazebo), which require C++…
The need for computational resources grows as computational algorithms gain popularity in different sectors of the scientific community. This search has stimulated the development of several cloud platforms that abstract the complexity of…
Cosmological simulations of structures and galaxies formations have played a fundamental role in the study of the origin, formation and evolution of the Universe. These studies improved enormously with the use of supercomputers and parallel…
We present ZERO, a modular and extensible C++ library interfacing Mathematical Programming and Game Theory. ZERO provides a comprehensive toolkit of modeling interfaces and algorithms for Reciprocally Bilinear Games (RBGs), i.e.,…
This work stages Foosball as a versatile platform for advancing scientific research, particularly in the realm of robot learning. We present an automated Foosball table along with its corresponding simulated counterpart, showcasing a…
Stochastic games are fundamental in various applications, including the control of cyber-physical systems (CPS), where both controller and environment are modeled as players. Traditional algorithms typically aim to determine a single…
Surveys of computational science show that many scientists use languages like C and C++ in order to write code for scientific computing, especially in scenarios where performance is a key factor. In this paper, we seek to evaluate the use…
The deep supervised and reinforcement learning paradigms (among others) have the potential to endow interactive multimodal social robots with the ability of acquiring skills autonomously. But it is still not very clear yet how they can be…
CERBERUS is a synthetic benchmark designed to help train and evaluate AI models for detecting cracks and other defects in infrastructure. It includes a crack image generator and realistic 3D inspection scenarios built in Unity. The…
Cyber-Physical Systems (CPS) consist of software interacting with the physical world, such as robots, vehicles, and industrial processes. CPS are frequently responsible for the safety of lives, property, or the environment, and so software…
This report describes Infernux, an open-source game engine that pairs a C++17/Vulkan real-time core with a Python production layer connected through a single pybind11 boundary. To close the throughput gap between Python scripting and…