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Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
Mastering computational architectures is essential for developing fast and power-efficient programs. Our advanced simulator empowers both IT students and professionals to grasp the fundamentals of superscalar RISC-V processors, HW/SW…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
This paper presents an automatic layout generation framework in advanced CMOS technologies. The framework extends the template-and-grid-based layout generation methodology with the following additional techniques applied to produce optimal…
This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…
Bio-engineered robots are under rapid development due to their maneuver ability through uneven surfaces. This advancement paves the way for experimenting with versatile electrical system developments with various motors. In this research…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
Stepwise model routing improves the efficiency of Large Reasoning Models (LRMs) by assigning each reasoning step to a suitable model. Recent methods formulate routing as a sequential decision process and train the router with reinforcement…
In this paper, we unify popular non-rigid registration methods for point sets and surfaces under our general framework, GiNGR. GiNGR builds upon Gaussian Process Morphable Models (GPMM) and hence separates modeling the deformation prior…
We introduce Proceduray, an engine for real-time ray tracing of procedural geometry. Its motivation is the current lack of mid-level abstraction tools for scenes with primitives involving intersection shaders. Those scenes impose strict…
The Circular Economy framework emphasizes sustainability by reducing resource consumption and waste through the reuse of components and materials. This paper presents ReLink, a computational framework for the circular design of planar…
With the end of both Dennard's scaling and Moore's law, computer users and researchers are aggressively exploring alternative forms of computing in order to continue the performance scaling that we have come to enjoy. Among the more salient…
The quality of tool paths is a dominant factor in CNC machining, determining its efficiency and accuracy. This paper provides a brief review (in Chinese) on tool path planning methods reported in the literature, focusing on their…
The adoption of machine learning-based techniques for analog integrated circuit layout, unlike its digital counterpart, has been limited by the stringent requirements imposed by electric and problem-specific constraints, along with the…
The increasing diversity and complexity of transformer workloads at the edge present significant challenges in balancing performance, energy efficiency, and architectural flexibility. This paper introduces NX-CGRA, a programmable hardware…
Modern embedded and cyber-physical systems require every day more performance, power efficiency and flexibility, to execute several profiles and functionalities targeting the ever growing adaptivity needs and preserving execution…
Imitation based robot learning has recently gained significant attention in the robotics field due to its theoretical potential for transferability and generalizability. However, it remains notoriously costly, both in terms of hardware and…
Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
The static instrumentation of machine code, also known as binary rewriting, is a power technique, but suffers from high runtime overhead compared to compiler-level instrumentation. Recent research has shown that tools can achieve…