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We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combining the ease-of-use of a high-level programming language…
We introduce ClutterGen, a physically compliant simulation scene generator capable of producing highly diverse, cluttered, and stable scenes for robot learning. Generating such scenes is challenging as each object must adhere to physical…
Model-based reinforcement learning is a powerful tool, but collecting data to fit an accurate model of the system can be costly. Exploring an unknown environment in a sample-efficient manner is hence of great importance. However, the…
The advent of Large Language Models (LLMs) has significantly transformed tasks across Software Engineering. In the context of Business Process Management, LLMs are now being explored as tools to derive process models directly from textual…
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Procedural planning, which entails decomposing a high-level goal into a sequence of temporally ordered steps, is an important yet intricate task for machines. It involves integrating common-sense knowledge to reason about complex and often…
Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…
Recent research in information extraction (IE) focuses on utilizing code-style inputs to enhance structured output generation. The intuition behind this is that the programming languages (PLs) inherently exhibit greater structural…
The enabling of scientific experiments that are embarrassingly parallel, long running and data-intensive into a cloud-based execution environment is a desirable, though complex undertaking for many researchers. The management of such…
We present MIDGARD, an open-source simulation platform for autonomous robot navigation in outdoor unstructured environments. MIDGARD is designed to enable the training of autonomous agents (e.g., unmanned ground vehicles) in photorealistic…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…
Recent advances in large language models (LLMs) transform how machine learning (ML) pipelines are developed and evaluated. LLMs enable a new type of workload, agentic pipeline search, in which autonomous or semi-autonomous agents generate,…
Interactive world models continually generate video by responding to a user's actions, enabling open-ended generation capabilities. However, existing models typically lack a 3D representation of the environment, meaning 3D consistency must…
The Fusion Synthesis Engine (FUSE) is a state-of-the-art software suite designed to revolutionize fusion power plant design. FUSE integrates first-principle models, machine learning, and reduced models into a unified framework, enabling…
Verification and validation of automated driving functions impose large challenges. Currently, scenario-based approaches are investigated in research and industry, aiming at a reduction of testing efforts by specifying safety relevant…
Prompt Engineering (PE) has emerged as a critical technique for guiding Large Language Models (LLMs) in solving intricate tasks. Its importance is highlighted by its potential to significantly enhance the efficiency and effectiveness of…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Numerical simulation of plasma discharges is often performed by models developed in-house and coupling externally and separately written codes. The MOOSE (Multiphysics Object Oriented Simulation Environment) framework provides tools for…
Procedural Content Generation for 3D game levels faces challenges in balancing spatial coherence, navigational functionality, and adaptable gameplay progression across multi-floor environments. This paper introduces a novel framework for…