Related papers: Simplifying ROS2 controllers with a modular archit…
Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
In this paper we explore a neural control architecture that is both biologically plausible, and capable of fully autonomous learning. It consists of feedback controllers that learn to achieve a desired state by selecting the errors that…
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment under provable guarantees. The CERG is an intermediate layer…
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
Existing approaches to controllable generation typically rely on fine-tuning, auxiliary networks, or test-time search. We show that flow matching admits a different control interface: adaptation through examples. For deterministic…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Despite progress across a broad range of applications, Transformers have limited success in systematic generalization. The situation is especially frustrating in the case of algorithmic tasks, where they often fail to find intuitive…
Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
A robotic system continuously measures its own motions and the external world during operation. Such measurements are with respect to some frame of reference, i.e., a coordinate system. A nontrivial robotic system has a large number of…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
The increasing impact of robotics on industry and on society will unavoidably lead to the involvement of robots in incidents and mishaps. In such cases, forensic analyses are key techniques to provide useful evidence on what happened, and…
Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…