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In this article, we plan to provide an introduction about some basics about robots for readers. Several key topics of classic robotics will be introduced, including robot representation, robot rotational motion, coordinates transformation…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
Identifying and categorizing specific robot tasks, behaviors, and resources is an essential precursor to reproducing and evaluating robotics experiments across laboratories and platforms. Without some means of capturing how one environment,…
Information and data exchange is an important aspect of scientific progress. In computational materials science, a prerequisite for smooth data exchange is standardization, which means using agreed conventions for, e.g., units, zero base…
Under the data-driven research paradigm, research software has come to play crucial roles in nearly every stage of scientific inquiry. Scholars are advocating for the formal citation of software in academic publications, treating it on par…
A rigid loop is a for-loop with a counter not accessible to the loop body or any other part of a program. Special instructions for rigid loops are introduced on top of the syntax of the program algebra PGA. Two different semantic…
Three-dimensional rigid-body transforms, i.e. rotations and translations, are central to modern differentiable machine learning pipelines in robotics, vision, and simulation. However, numerically robust and mathematically correct…
Large language models and deep learning models designed for code intelligence have revolutionized the software engineering field due to their ability to perform various code-related tasks. These models can process source code and software…
Image registration is fundamental in medical imaging applications, such as disease progression analysis or radiation therapy planning. The primary objective of image registration is to precisely capture the deformation between two or more…
Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…
The field of human-computer interaction (HCI) is maturing. Systematic reviews, a staple of many disciplines, play an important and often essential role in how each field contributes to human knowledge. On this prospect, we argue that our…
Industrial robotic systems (IRS) are increasingly deployed in diverse environments, where failures can result in severe accidents and costly downtime. Ensuring the reliability of the software controlling these systems is therefore critical.…
Over the past decade, modern code review (MCR) has been established as a cornerstone of software quality assurance and a vital channel for knowledge transfer within development teams. However, the manual inspection of increasingly complex…
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…
Due to the growing complexity of software systems, there has been a dramatic increase and industry demand for tools and techniques on software refactoring in the last ten years, defined traditionally as a set of program transformations…
Reproducible computational research (RCR) is the keystone of the scientific method for in silico analyses, packaging the transformation of raw data to published results. In addition to its role in research integrity, RCR has the capacity to…
International Classification of Disease (ICD) coding procedure which refers to tagging medical notes with diagnosis codes has been shown to be effective and crucial to the billing system in medical sector. Currently, ICD codes are assigned…
With the rapid growth of Web-based academic publications, more and more papers are being published annually, making it increasingly difficult to find relevant prior work. Citation prediction aims to automatically suggest appropriate…
As hardware and software systems have grown in complexity, formal methods have been indispensable tools for rigorously specifying acceptable behaviors, synthesizing programs to meet these specifications, and validating the correctness of…