Related papers: POE: Acoustic Soft Robotic Proprioception for Omni…
Integrated sensing and communication and millimeter wave (mmWave) have emerged as pivotal technologies for 6G networks. However, the narrow nature of mmWave beams requires precise alignments that typically necessitate large training…
The Product of Exponentials (PoE) formula is a mathematical tool that is used extensively in robotics. The virtue of using the exponential mapping, Lie Algebra and screw theory is that it allows an elegant and concise way of describing the…
Pre-training has proven effective in addressing data scarcity and performance limitations in solving PDE problems with neural operators. However, challenges remain due to the heterogeneity of PDE datasets in equation types, which leads to…
We propose an AE-based transceiver for a WDM system impaired by hardware imperfections. We design our AE following the architecture of conventional communication systems. This enables to initialize the AE-based transceiver to have similar…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
We propose and test stable algorithms for the reconstruction of the internal conductivity of a biological object using acousto-electric measurements. Namely, the conventional impedance tomography scheme is supplemented by scanning the…
Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications. However, integrating an arm with a mobile base significantly increases the system's complexity, making precise end-effector…
Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…
AI-powered autonomous experimentation (AI/AE) can accelerate materials discovery but its effectiveness for electronic materials is hindered by data scarcity from lengthy and complex design-fabricate-test-analyze cycles. Unlike experienced…
The inverse problem of multilayer thin-film optical coatings design represents a complex combinatorial-continuous optimization challenge. We present PRISM (Position-encoded Regressive Inverse Spectral Model), a unified decoder-only…
Masked Autoencoders (MAE) have shown great potentials in self-supervised pre-training for language and 2D image transformers. However, it still remains an open question on how to exploit masked autoencoding for learning 3D representations…
This paper introduces a new local plastic correction algorithm that is aimed at accelerating elasto-plastic finite element (FE) simulations for structural problems exhibiting localised plasticity (around e.g. notches, geometrical defects).…
Unsupervised learning of vision transformers seeks to pretrain an encoder via pretext tasks without labels. Among them is the Masked Image Modeling (MIM) aligned with pretraining of language transformers by predicting masked patches as a…
Current machine learning techniques proposed to automatically discover a robot kinematics usually rely on a priori information about the robot's structure, sensors properties or end-effector position. This paper proposes a method to…
Pre-training is a general method that is used in a range of deep learning tasks. By first training a model on one task, and then further training on the downstream task used for final evaluation, the model is forced to learn a more general…
We propose EMORe, an adaptive reconstruction method designed to enhance motion robustness in free-running, free-breathing self-gated 5D cardiac magnetic resonance imaging (MRI). Traditional self-gating-based motion binning for 5D MRI often…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
This paper introduces a novel numerical method for the inverse problem of electroencephalography(EEG). We pose the inverse EEG problem as an optimal control (OC) problem for Poisson's equation. The optimality conditions lead to a…
Occlusion is an omnipresent challenge in 3D human pose estimation (HPE). In spite of the large amount of research dedicated to 3D HPE, only a limited number of studies address the problem of occlusion explicitly. To fill this gap, we…