Related papers: Tile Reconfiguration by a Finite Automaton
Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. However, existing TO algorithms use the Finite Element Analysis…
Any agent that is part of the environment it interacts with and has versatile actuators (such as arms and fingers), will in principle have the ability to self-modify -- for example by changing its own source code. As we continue to create…
We introduce a new class of possibly noncompact n-dimensional manifolds without boundary associated to finite data which we call topological automata. This class is large enough to contain many interesting examples of open 2-dimensional and…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
We investigate the role of nondeterminism in Winfree's abstract Tile Assembly Model (aTAM), which was conceived to model artificial molecular self-assembling systems constructed from DNA. Of particular practical importance is to find tile…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
Trained ML models are commonly embedded in optimization problems. In many cases, this leads to large-scale NLPs that are difficult to solve to global optimality. While ML models frequently lead to large problems, they also exhibit…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
Matching deformable objects using their shapes is an important problem in computer vision since shape is perhaps the most distinguishable characteristic of an object. The problem is difficult due to many factors such as intra-class…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…
In this paper, we present DeepSIM, a generative model for conditional image manipulation based on a single image. We find that extensive augmentation is key for enabling single image training, and incorporate the use of thin-plate-spline…
In this paper, we present DeepSIM, a generative model for conditional image manipulation based on a single image. We find that extensive augmentation is key for enabling single image training, and incorporate the use of thin-plate-spline…
Shape completion aims to recover the full 3D geometry of an object from a partial observation. This problem is inherently multi-modal since there can be many ways to plausibly complete the missing regions of a shape. Such diversity would be…
This paper proposes a scalable planning algorithm for creating defect-free atom arrays in neutral-atom systems. The algorithm generates a $\mathcal{O}(\sqrt N)$ time plan for $N$ atoms by parallelizing atom transport using a two-dimensional…
Shape optimization is a challenging task in many engineering fields, since the numerical solutions of parametric system may be computationally expensive. This work presents a novel optimization procedure based on reduced order modeling,…
Personalization is the process of fitting a model to patient data, a critical step towards application of multi-physics computational models in clinical practice. Designing robust personalization algorithms is often a tedious,…
In many contexts the modal properties of a structure change, either due to the impact of a changing environment, fatigue, or due to the presence of structural damage. For example during flight, an aircraft's modal properties are known to…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…