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Increasingly stringent performance requirements for motion control necessitate the use of increasingly detailed models of the system behavior. Motion systems inherently move, therefore, spatio-temporal models of the flexible dynamics are…
We introduce YOLO9000, a state-of-the-art, real-time object detection system that can detect over 9000 object categories. First we propose various improvements to the YOLO detection method, both novel and drawn from prior work. The improved…
Using a numerical simulation of the evolution of a qubit interacting with the environment we show that quantum error detection and correction can work effectively even when the recovery procedure introduces errors.
State ambiguity is common in robotic manipulation. Identical observations may correspond to multiple valid behavior trajectories. The visuomotor policy must correctly extract the appropriate types and levels of information from the history…
Detection of Graphical User Interface (GUI) elements is a crucial task for automatic code generation from images and sketches, GUI testing, and GUI search. Recent studies have leveraged both old-fashioned and modern computer vision (CV)…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
This article describes an absolutely stable, first-order constraint solverfor multi-rigid body systems that calculates (predicts) constraint forces for typical bilateral and unilateral constraints, contact constraints with friction, and…
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…
Linear combination of unitaries (LCU for short) is one of the most important techniques in designing quantum algorithms. In this paper, we propose a new quantum algorithm in three different forms to achieve LCU. Different from previous…
End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…
Creation of collision objects for 3D models is a time-consuming task, requiring modelers to manually place primitives such as bounding boxes, capsules, spheres, and other convex primitives to approximate complex meshes. While there has been…
Existing Real-Time Object Detection (RTOD) methods commonly adopt YOLO-like architectures for their favorable trade-off between accuracy and speed. However, these models rely on static dense computation that applies uniform processing to…
Inspired by biological molecular machines we explore the idea of an active quantum robot whose purpose is delaying decoherence. A conceptual model capable of partially protecting arbitrary logical qubit states against single physical qubit…
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…
A method is presented which allows for a tremendous speed-up of computer simulations of statistical systems by orders of magnitude. This speed-up is achieved by means of a new observable, while the algorithm of the simulation remains…
The simulation of complex quantum systems on a quantum computer is studied, taking the kicked Harper model as an example. This well-studied system has a rich variety of dynamical behavior depending on parameters, displays interesting…
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…
We introduce a novel algorithm for the task of coherently controlling a quantum mechanical system to implement any chosen unitary dynamics. It performs faster than existing state of the art methods by one to three orders of magnitude…
Detecting user interface (UI) controls from software screenshots is a critical task for automated testing, accessibility, and software analytics, yet it remains challenging due to visual ambiguities, design variability, and the lack of…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…