Related papers: OmniLRS: A Photorealistic Simulator for Lunar Robo…
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…
Vision Based Navigation consists in utilizing cameras as precision sensors for GNC after extracting information from images. To enable the adoption of machine learning for space applications, one of obstacles is the demonstration that…
While self-supervised pretraining has reduced vision systems' reliance on synthetic data, simulation remains an indispensable tool for closed-loop optimization and rigorous out-of-distribution (OOD) evaluation. However, modern simulation…
Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
As humans venture deeper into space, the need for a lunar settlement, housing the first group of settlers, grows steadily. By means of new technologies such as in situ resource utilisation (ISRU) as well as computational design, this goal…
Neutral atom quantum computers require accurate single atom detection for the preparation and readout of their qubits. This is usually done using fluorescence imaging. The occupancy of an atom site in these images is often somewhat…
The advent of simulation engines has revolutionized learning and operational efficiency for robots, offering cost-effective and swift pipelines. However, the lack of a universal simulation platform tailored for chemical scenarios impedes…
We introduce AnyUser, a unified robotic instruction system for intuitive domestic task instruction via free-form sketches on camera images, optionally with language. AnyUser interprets multimodal inputs (sketch, vision, language) as…
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…
The development of robust and generalizable robot learning models is critically contingent upon the availability of large-scale, diverse training data and reliable evaluation benchmarks. Collecting data in the physical world poses…
We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…
Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…
This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…
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…