Related papers: Beyond URDF: The Universal Robot Description Direc…
More often than not, there is a need to understand the structure of complex computer code: what functions and in what order they are called, how information travels around static, input, and output variables, what depends on what. As a…
Cybersecurity in robotics is an emerging topic that has gained significant traction. Researchers have demonstrated some of the potentials and effects of cyber attacks on robots lately. This implies safety related adverse consequences…
Research and industry are rapidly advancing the innovation and adoption of foundation model-based systems, yet the tools for managing these models have not kept pace. Understanding the provenance and lineage of models is critical for…
As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual…
Unsupervised representation learning (URL), which learns compact embeddings of high-dimensional data without supervision, has made remarkable progress recently. However, the development of URLs for different requirements is independent,…
Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-complex robot systems. To handle this complexity in…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Multi-robot mapping with neural implicit representations enables the compact reconstruction of complex environments. However, it demands robustness against communication challenges like packet loss and limited bandwidth. While prior works…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…
The emerging Web of Data utilizes the web infrastructure to represent and interrelate data. The foundational standards of the Web of Data include the Uniform Resource Identifier (URI) and the Resource Description Framework (RDF). URIs are…
We have developed URDME, a general software for simulation of stochastic reaction-diffusion processes on unstructured meshes. This allows for a more flexible handling of complicated geometries and curved boundaries compared to simulations…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Architectural Description (AD) is the backbone that facilitates the implementation and validation of robotic systems. In general, current high-level ADs reflect great variation and lead to various difficulties, including mixing ADs with…
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein…
Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and…
Collision-free motion planning for redundant robot manipulators in complex environments is yet to be explored. Although recent advancements at the intersection of deep reinforcement learning (DRL) and robotics have highlighted its potential…
Pre-trained models (PM) have achieved promising results in content generation. However, the space for human creativity and imagination is endless, and it is still unclear whether the existing models can meet the needs. Model-generated…