Related papers: Towards Mitigating Sim2Real Gaps: A Formal Quantit…
Noise and imperfections are among the prevalent challenges in quantum software engineering for current NISQ systems. They will remain important in the post-NISQ area, as logical, error-corrected qubits will be based on software mechanisms.…
Computational models are quantitative representations of systems. By analyzing and comparing the outputs of such models, it is possible to gain a better understanding of the system itself. Though as the complexity of model outputs…
Numerical simulations of physical systems exhibit discrepancies arising from unmodeled physics and idealizations, as well as numerical approximation errors stemming from discretization and solver tolerances. This article reviews techniques…
Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…
Cosimulation methods allow combination of simulation tools of physical systems running in parallel to act as a single simulation environment for a big system. As data is passed across subsystem boundaries instead of solving the system as…
Simulation-based testing of automated driving systems (ADS) is the industry standard, being a controlled, safe, and cost-effective alternative to real-world testing. Despite these advantages, virtual simulations often fail to accurately…
This article presents an empirical validation of the functional multidimensional scaling model, a novel approach that improves the smoothness of time-varying dissimilarities in a low-dimensional space, embedding a modified Adam stochastic…
Many parallel and distributed computing research results are obtained in simulation, using simulators that mimic real-world executions on some target system. Each such simulator is configured by picking values for parameters that define the…
Simulating vision-based tactile sensors enables learning models for contact-rich tasks when collecting real world data at scale can be prohibitive. However, modeling the optical response of the gel deformation as well as incorporating the…
We consider realistic measurement systems, where measurements are accompanied by decoherence processes. The aim of this work is the construction of methods and algorithms for precise quantum measurements with fidelity close to the…
Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…
The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…
In this paper, we present a strictly negative imaginary state feedback control methodology for relative degree two negative imaginary systems such as flexible structures with collocated sensors and actuators. We show that by augmenting a…
Computer simulation models are widely used to study complex physical systems. A related fundamental topic is the inverse problem, also called calibration, which aims at learning about the values of parameters in the model based on…
Formal verification is at the heart of model validation and correctness. With model checking, invaluable realizations have been accomplished in software engineering and particularly in software development. By means of this approach,…
Simulation-based testing of autonomous vehicles (AVs) has become an essential complement to road testing to ensure safety. Consequently, substantial research has focused on searching for failure scenarios in simulation. However, a…
Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
Based on our earlier works [Phys. Rev. B 75, 195127 (2007) & J. Chem. Phys. 128, 234703 (2008)], we propose a formally exact and numerically convenient approach to simulate time-dependent quantum transport from first-principles. The…
Game-theoretic models and solution concepts provide rigorous tools for predicting collective behavior in multi-agent systems. In practice, however, different agents may rely on different game-theoretic models to design their strategies. As…