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Data driven robotics relies upon accurate real-world representations to learn useful policies. Despite our best-efforts, zero-shot sim-to-real transfer is still an unsolved problem, and we often need to allow our agents to explore online to…
Geomagnetically Induced Currents (GICs) are one of the most hazardous effects of space weather. The rate of change in ground horizontal magnetic component dBH/dt is used as a proxy measure for GIC. In order to monitor and predict dBH/dt,…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
We study a physically realistic, whole-core mathematical model of the dynamics in the Earth's core and we prove existence of Leray-Hopf type weak solutions to the model. Our model combines Magneto-Hydrodynamic equations in the liquid outer…
This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…
Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static…
This paper describes a novel method for calibrating dc-precise magnetometers in the low field range (100 uT), which gives acceptable results even in laboratory conditions with significant magnetic interference. By introducing a closely…
We derive an exact expression for the orbital magnetization of electrons with short-range interactions (such as density-density interactions) in terms of exact zero-frequency response functions of the zero-field system. The result applies…
We review the recent development of machine-learning (ML) force-field frameworks for Landau-Lifshitz-Gilbert (LLG) dynamics simulations of itinerant electron magnets, focusing on the general theory and implementations of symmetry-invariant…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
We introduce Correspondence-Oriented Imitation Learning (COIL), a conditional policy learning framework for visuomotor control with a flexible task representation in 3D. At the core of our approach, each task is defined by the intended…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…
In this paper, we propose an optimized field/circuit coupling approach for the simulation of magnetothermal transients in superconducting magnets. The approach improves the convergence of the iterative coupling scheme between a…
We extend the foil winding homogenization method to magnetic field conforming formulations. We first propose a full magnetic field foil winding formulation by analogy with magnetic flux density conforming formulations. We then introduce the…
We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…
Field line tracing is one of the fundamental computational tools used in the study of the magnetosphere, which helps in many areas including footprint mapping, connectivity analysis and real-time visualisation. This note describes an…
In the context of developing new vehicle concepts, especially autonomous vehicles with novel seating arrangements and occupant activities, predicting occupant motion can be a tool for ensuring safety and comfort. In this study, a…