Related papers: Acoustic Wave Manipulation Through Sparse Robotic …

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

For compressive sensing of dynamic sparse signals, we develop an iterative pursuit algorithm. A dynamic sparse signal process is characterized by varying sparsity patterns over time/space. For such signals, the developed algorithm is able…

Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…

A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…

The past decade has witnessed the tremendous successes of machine learning techniques in the supervised learning paradigm, where there is a clear demarcation between training and testing. In the supervised learning paradigm, learning is…

Based on the assumption of Gaussian noise model, conventional adaptive filtering algorithms for reconstruction sparse channels were proposed to take advantage of channel sparsity due to the fact that broadband wireless channels usually have…

This paper considers the problem of estimating linear dynamic system models when the observations are corrupted by random disturbances with nonstandard distributions. The paper is particularly motivated by applications where sensor…

Robot-moderated group discussions have the potential to facilitate engaging and productive interactions among human participants. Previous work on topic management in conversational agents has predominantly focused on human engagement and…

We employ a lattice Boltzmann method to compute the acoustic radiation force produced by standing waves on a compressible object. Instead of simulating the fluid mechanics equations directly, the proposed method uses a lattice Boltzmann…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

The sparse representation of signals defined on Euclidean domains has been successfully applied in signal processing. Bringing the power of sparse representations to non-regular domains is still a challenge, but promising approaches have…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

How to manipulate acoustic waves through thinner structures is always a challenging problem due to the linear proportional relationship between the structural thickness and the acoustic wavelength. Here, we show the possibility of breaking…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Data-driven approaches to solving robotic tasks have gained a lot of traction in recent years. However, most existing policies are trained on large-scale datasets collected in curated lab settings. If we aim to deploy these models in…