Related papers: Exploring Robot Morphology Spaces through Breadth-…
Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…
Several fundamental problems in science and engineering consist of global optimization tasks involving unknown high-dimensional (black-box) functions that map a set of controllable variables to the outcomes of an expensive experiment.…
Despite recent progress in robot learning, it still remains a challenge to program a robot to deal with open-ended object manipulation tasks. One approach that was recently used to autonomously generate a repertoire of diverse skills is a…
Data cleaning, architecture, and loss function design are important factors contributing to high-performance face recognition. Previously, the research community tries to improve the performance of each single aspect but failed to present a…
Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…
A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…
Morpho-evolution (ME) refers to the simultaneous optimisation of a robot's design and controller to maximise performance given a task and environment. Many genetic encodings have been proposed which are capable of representing design and…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of…
Automated heuristic design (AHD) has gained considerable attention for its potential to automate the development of effective heuristics. The recent advent of large language models (LLMs) has paved a new avenue for AHD, with initial efforts…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
Post-genomic research deals with challenging problems in screening genomes of organisms for particular functions or potential for being the targets of genetic engineering for desirable biological features. 'Phenotyping' of wild type and…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
Diagrammatic models of feeding choices reveal fundamental robotic behaviors. Successful choices are reinforced by positive feedback, while unsuccessful ones by negative feedback. This paper will address robotic feeding by casually relating…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…
An important problem in bioinformatics is the inference of gene regulatory networks (GRN) from temporal expression profiles. In general, the main limitations faced by GRN inference methods is the small number of samples with huge…