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We propose DeepSim, a reinforcement learning environment build toolkit for ROS and Gazebo. It allows machine learning or reinforcement learning researchers to access the robotics domain and create complex and challenging custom tasks in ROS…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…
Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance…
To reduce the carbon footprint of computing and stabilize electricity grids, there is an increasing focus on approaches that align the power usage of IT infrastructure with the availability of clean energy. Unfortunately, research on…
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…
We present the Seismic Laboratory for Imaging and Modeling/Monitoring (SLIM) open-source software framework for computational geophysics and, more generally, inverse problems involving the wave-equation (e.g., seismic and medical…
Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are…
Robust SLAM is a crucial enabler for autonomous navigation in natural, semi-structured environments such as parks and gardens. However, these environments present unique challenges for SLAM due to frequent seasonal changes, varying light…
Reinforcement learning (RL) has proven effective for AI-based building energy management. However, there is a lack of flexible framework to implement RL across various control problems in building energy management. To address this gap, we…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
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…
Current embodied reasoning agents struggle to plan for long-horizon tasks that require to physically interact with the world to obtain the necessary information (e.g. 'sort the objects from lightest to heaviest'). The improvement of the…
Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that…
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
As one of the most promising areas, mobile robots draw much attention these years. Current work in this field is often evaluated in a few manually designed scenarios, due to the lack of a common experimental platform. Meanwhile, with the…
The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and…
This paper presents Rummaging Using Mutual Information (RUMI), a method for online generation of robot action sequences to gather information about the pose of a known movable object in visually-occluded environments. Focusing on…
We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information…
With increasing physical threats in recent years targeted at critical infrastructures, it is crucial to establish a reliable threat monitoring system integrating video surveillance and digital sensors based on cutting-edge technologies. A…