Related papers: gafro: Geometric Algebra for Robotics
Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…
Accurate and efficient physical simulations are essential in science and engineering, yet traditional numerical solvers face significant challenges in computational cost when handling simulations across dynamic scenarios involving complex…
The art of quantum algorithm design is highly nontrivial. Grover's search algorithm constitutes a masterpiece of quantum computational software. In this article, we use methods of geometric algebra (GA) and information geometry (IG) to…
Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is…
This research started with an algebra for reasoning about rely/guarantee concurrency for a shared memory model. The approach taken led to a more abstract algebra of atomic steps, in which atomic steps synchronise (rather than interleave)…
We consider the problem of efficiently approximating and encoding high-dimensional data sampled from a probability distribution $\rho$ in $\mathbb{R}^D$, that is nearly supported on a $d$-dimensional set $\mathcal{M}$ - for example…
Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
We describe the Bandicoot GPU linear algebra toolkit, a C++ based library that prioritises ease of use without compromising efficiency. Bandicoot's API is compatible with the popular Armadillo CPU linear algebra library, enabling easy…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial relationships. Consequently, we argue that…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…
High-performance implementations of graph algorithms are challenging to implement on new parallel hardware such as GPUs because of three challenges: (1) the difficulty of coming up with graph building blocks, (2) load imbalance on parallel…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…
This article presents some aspects and experience in the use of algebraic manipulation software applied to general relativity. Some years ago certain results were reported using computer algebra platforms, but the growing popularity of…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the…
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determining whether one exists) for an arbitrary robotic system.…