Related papers: Minimally sufficient structures for information-fe…
This paper addresses the lower limits of encoding and processing the information acquired through interactions between an internal system (robot algorithms or software) and an external system (robot body and its environment) in terms of…
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether…
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our task of interest is object manipulation because it is a…
In robotics, catastrophic interference continues to restrain policy training across environments. Efforts to combat catastrophic interference to date focus on novel neural architectures or training methods, with a recent emphasis on…
Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal components of the robot in terms of expected environmental…
Communications are realized as a result of successive decisions at the physical layer, from modulation selection to multi-antenna strategy, and each decision affects the performance of the communication systems. Future communication systems…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
The application of the Shannon entropy to study the relationship between information and structures has yielded insights into molecular and material systems. However, the difficulty in directly observing and manipulating atoms and molecules…
Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt…
Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…
There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…
Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing…
The visual world is very rich and generally too complex to perceive in its entirety. Yet only certain features are typically required to adequately perform some task in a given situation. Rather than hardwire-in decisions about when and…
For robots to be able to manipulate in unknown and unstructured environments the robot should be capable of operating under partial observability of the environment. Object occlusions and unmodeled environments are some of the factors that…