Related papers: Angular Divergent Component of Motion: A step towa…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and develops a real-time motion planner based on the proposed…
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance…
Alternating Direction Method of Multipliers (ADMM) has been used successfully in many conventional machine learning applications and is considered to be a useful alternative to Stochastic Gradient Descent (SGD) as a deep learning optimizer.…
In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling…
We introduce a region-specific diffeomorphic metric mapping (RDMM) registration approach. RDMM is non-parametric, estimating spatio-temporal velocity fields which parameterize the sought-for spatial transformation. Regularization of these…
We propose a new design strategy for extremum seeking control for a multi-dimensional single-integrator system in the presence of local extrema. The proposed method employs suitably designed sinusoidal dither signals, which force the…
An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…
We propose a network for semantic mapping called the Dense Dilated Convolutions Merging Network (DDCM-Net) to provide a deep learning approach that can recognize multi-scale and complex shaped objects with similar color and textures, such…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
Semantic Segmentation is an important module for autonomous robots such as self-driving cars. The advantage of video segmentation approaches compared to single image segmentation is that temporal image information is considered, and their…
This work proposes a new framework of model reduction for parametric complex systems. The framework employs a popular model reduction technique dynamic mode decomposition (DMD), which is capable of combining data-driven learning and physics…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
Distributed learning is essential for training large-scale deep models. Asynchronous SGD (ASGD) and its variants are commonly used distributed learning methods, particularly in scenarios where the computing capabilities of workers in the…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
Even though Non-rigid Structure-from-Motion (NRSfM) has been extensively studied and great progress has been made, there are still key challenges that hinder their broad real-world applications: 1) the inherent motion/rotation ambiguity…
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…