Related papers: Recoverable Lock-Free Locks
A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…
Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing…
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…
Reparable systems are systems that are characterized by their ability to undergo maintenance actions when failures occur. These systems are often described by transport equations, all coupled through an integro-differential equation. In…
A novel and detailed convergence analysis is presented for a greedy algorithm that was previously introduced for operator reconstruction problems in the field of quantum mechanics. This algorithm is based on an offline/online decomposition…
The aim of this paper is to introduce a new learning procedure for neural networks and to demonstrate that it works well enough on a few small problems to be worth further investigation. The Forward-Forward algorithm replaces the forward…
Reversible logic has two main properties. First, the number of inputs is equal to the number of outputs. Second, it implements a one-to-one mapping; i.e., one can reconstruct the inputs from the outputs. These properties enable its…
It is becoming increasingly difficult to improve the performance of a a single process (thread) on a computer due to physical limitations. Modern systems use multi-core processors in which multiple processes (threads) may run concurrently.…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This work makes explicit the degrees of freedom involved in modeling the dynamics of a network, or some other first-order property of a network, such as a measurement function. In previous work, an admissible function in a network was…
Credential theft and remote attacks are the most serious threats to user authentication mechanisms. The crux of these problems is that we cannot control such behaviors. However, if a password does not contain user secrets, stealing it is…
In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…
Safe memory reclamation is crucial to memory safety for optimistic and lock-free concurrent data structures in non garbage collected programming languages. However, several challenges arise in designing an ideal safe memory reclamation…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
We describe a realizability framework for classical first-order logic in which realizers live in (a model of) typed {\lambda}{\mu}-calculus. This allows a direct interpretation of classical proofs, avoiding the usual negative translation to…
Reversible algorithms are algorithms in which each step represents a partial injective function; they are useful for performance optimization in reversible systems. In this study, using Janus, a reversible imperative high-level programming…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
We develop a duality for operations on nested pairs of modules that generalizes the duality between absolute interior operations and residual closure operations from [ER21], extending our previous results to the expanded context. We apply…
In this paper, we propose an approach to providing the benefits of isolation in service-oriented applications where it is not feasible to hold traditional locks for ACID transactions. Our technique, called "Promises", provides an uniform…