Related papers: Beyond the Cascade: Juggling Vanilla Siteswap Patt…
This fluid dynamics video is an entry for the Gallery of Fluid Motion for the 66th Annual Meeting of the Fluid Dynamics Division of the American Physical Society. We show the curious behaviour of a light ball interacting with a liquid jet.…
Slope movements (e.g. landslides) are dynamic systems that are complex in time and space and closely linked to both inherited and current preparatory and triggering controls. It is not yet possible to assess in all cases conditions for…
Human and automation capabilities are the foundation of every human-autonomy interaction and interaction pattern. Therefore, machines need to understand the capacity and performance of human doing, and adapt their own behavior, accordingly.…
Humans often think of complex tasks as combinations of simpler subtasks in order to learn those complex tasks more efficiently. For example, a backflip could be considered a combination of four subskills: jumping, tucking knees, rolling…
Time series, as one of the most fundamental representations of sequential data, has been extensively studied across diverse disciplines, including computer science, biology, geology, astronomy, and environmental sciences. The advent of…
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…
Deep learning revolutionized data science, and recently its popularity has grown exponentially, as did the amount of papers employing deep networks. Vision tasks, such as human pose estimation, did not escape from this trend. There is a…
Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic…
The connectivity properties of a weight-bearing network are exploited to enhance it's capacity. We study a 2-d network of sites where the weight-bearing capacity of a given site depends on the capacities of the sites connected to it in the…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Transformer networks have seen great success in natural language processing and machine vision, where task objectives such as next word prediction and image classification benefit from nuanced context sensitivity across high-dimensional…
We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical reachability and picking speed of a robot arm. However,…
Individuals post stroke experience motor impairments, such as loss of independent joint control, leading to an overall reduction in arm function. Their motion becomes slower and more discoordinated, making it difficult to complete…
Basket weaving is a traditional craft used to create practical three-dimensional (3D) structures. While the geometry and aesthetics of baskets have received considerable attention, the underlying mechanics and modern engineering potential…
Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusable robot manipulation skills from unstructured human videos…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Cascades on random networks are typically analyzed by assuming they map onto percolation processes and then are solved using generating function formulations. This approach assumes that the network is infinite and weakly connected, yet…
Recent works suggest that transformer models are capable of multi-tasking on diverse NLP tasks and adapting to new tasks efficiently. However, the potential of these multi-task models may be limited as they use the same set of parameters…