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Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…
We consider methods of interpolating between the crystalline and dynamically triangulated random surface models. We argue that actions based on the deviation from six of the coordination number at a site are inadequate and propose an…
Be it to aerate a glass of wine before tasting, to accelerate a chemical reaction or to cultivate cells in suspension, the "swirling" (or orbital shaking) of a container ensures good mixing and gas exchange in an efficient and simple way.…
Complex systems are characterized by specific time-dependent interactions among their many constituents. As a consequence they often manifest rich, non-trivial and unexpected behavior. Examples arise both in the physical and non-physical…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
We numerically investigate jamming transitions in complex heterogeneous networks. Inspired by Internet routing protocols, we study a general model that incorporates local traffic information through a tunable parameter. The results show…
A quintessential feature of human intelligence is the ability to create ad hoc conventions over time to achieve shared goals efficiently. We investigate how communication strategies evolve through repeated collaboration as people coordinate…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
Imagine observing someone scratching their arm; to understand why, additional context would be necessary. However, spotting a mosquito nearby would immediately offer a likely explanation for the person's discomfort, thereby alleviating the…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…
Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
This paper introduces a martingale that characterizes two properties of evolving forecast distributions. Ideal forecasts of a future event behave as martingales, sequen- tially updating the forecast to leverage the available information as…
A central task in the analysis of human movement behavior is to determine systematic patterns and differences across experimental conditions, participants and repetitions. This is possible because human movement is highly regular, being…
Recent advances have enabled heterogeneous multi-robot teams to learn complex and effective coordination skills. However, existing neural architectures that support heterogeneous teaming tend to force a trade-off between expressivity and…
This study offers an interdisciplinary approach to movement technique analysis, designed to deal with intensive interaction between an environment and a trainee. The free-fall stage of skydiving is investigated, when aerial maneuvers are…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
In this paper, we present a new task that investigates how people interact with and make judgments about towers of blocks. In Experiment~1, participants in the lab solved a series of problems in which they had to re-configure three blocks…
We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…