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In this work, we present a robotic solution to automate the task of wall construction. To that end, we present an end-to-end visual perception framework that can quickly detect and localize bricks in a clutter. Further, we present a light…
This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…
Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…
Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a feasible trajectory was not found. Meanwhile, collision…
Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, high-fidelity visualizations…
Adiabatic quantum optimization offers a new method for solving hard optimization problems. In this paper we calculate median adiabatic times (in seconds) determined by the minimum gap during the adiabatic quantum optimization for an NP-hard…
In this work, recently developed state-of-the-art symbolic multibody methods are tested to accurately model a complex railway vehicle. The model is generated using a symbolic implementation of the principle of the virtual power. Creep…
Effective robot autonomy requires motion generation that is safe, feasible, and reactive. Current methods are fragmented: fast planners output physically unexecutable trajectories, reactive controllers struggle with high-fidelity…
Bob hides a ball in one of four drawers. Alice is to locate it. Classically she has to open up to three drawers, quantally just one. The fundamental reason for this quantum speedup is not known. The usual representation of the quantum…
The paper describes a novel real-time algorithm for finding 3D geometric primitives (cylinders, cones and spheres) from 3D range data. In its core, it performs a fast model fitting with a model update in constant time (O(1)) for each new…
This course design aims to develop and research a handwriting matrix recognition and step-by-step visual calculation process display system, addressing the issue of abstract formulas and complex calculation steps that students find…
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still unable to solve MICPs for control problems quickly enough for…
The integration of large-scale circuits and systems emphasizes the importance of automated defect detection of electronic components. The YOLO image detection model has been used to detect PCB defects and it has become a typical AI-assisted…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…
A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…
A graphical user interface (GUI) software is provided for lattice QCD simulations, aimed at streamlining the process. The current version of the software employs the Metropolis algorithm with the Wilson gauge action. It is implemented in…
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements…
This paper presents a modular autonomous driving architecture for Formula Student Driverless competition vehicles operating in closed-circuit environments. The perception module employs YOLOv11 for real-time traffic cone detection,…
The MINSU(Mobile Inventory and Scanning Unit) algorithm uses the computational vision analysis method to record the residual quantity/fullness of the cabinet. To do so, it goes through a five-step method: object detection, foreground…