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In this work, a data-driven modeling framework of switched dynamical systems under time-dependent switching is proposed. The learning technique utilized to model system dynamics is Extreme Learning Machine (ELM). First, a method is…

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…

We present an efficient hybrid Neural Network-Finite Element Method (NN-FEM) for solving the viscous-plastic (VP) sea-ice model. The VP model is widely used in climate simulations to represent large-scale sea-ice dynamics. However, the…

Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

Simulating and predicting the water level/stage in river systems is essential for flood warnings, hydraulic operations, and flood mitigations. Physics-based detailed hydrological and hydraulic computational tools, such as HEC-RAS, MIKE, and…

For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…

With the growing prevalence of smart grid technology, short-term load forecasting (STLF) becomes particularly important in power system operations. There is a large collection of methods developed for STLF, but selecting a suitable method…

Precise load forecasting in buildings could increase the bill savings potential and facilitate optimized strategies for power generation planning. With the rapid evolution of computer science, data-driven techniques, in particular the Deep…

Computational Fluid Dynamics (CFD) is widely used in aerospace, energy, and biology to model fluid flow, heat transfer, and chemical reactions. While Large Language Models (LLMs) have transformed various domains, their application in CFD…

Long Short Term Memory networks (LSTMs) are used to build single models that predict river discharge across many catchments. These models offer greater accuracy than models trained on each catchment independently if using the same data.…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…

We present a novel method for guaranteeing linear momentum in learned physics simulations. Unlike existing methods, we enforce conservation of momentum with a hard constraint, which we realize via antisymmetrical continuous convolutional…

Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…

We present SIM-FSVGD for learning robot dynamics from data. As opposed to traditional methods, SIM-FSVGD leverages low-fidelity physical priors, e.g., in the form of simulators, to regularize the training of neural network models. While…

Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent robots. Wake effects are hard to model and predict due to…

This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…