Related papers: RAPID: Reconfigurable, Adaptive Platform for Itera…
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…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
We present MaskAdapt, a framework for flexible motion adaptation in physics-based humanoid control. The framework follows a two-stage residual learning paradigm. In the first stage, we train a mask-invariant base policy using stochastic…
The rapid progress and advancement in electronic chips technology provide a variety of new implementation options for system engineers. The choice varies between the flexible programs running on a general-purpose processor (GPP) and the…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…
This paper introduces Fast Linearized Adaptive Policy (FLAP), a new meta-reinforcement learning (meta-RL) method that is able to extrapolate well to out-of-distribution tasks without the need to reuse data from training, and adapt almost…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Model-based design offers a promising approach for assisting developers to build reliable and secure cyber-physical systems (CPSs) in a systematic manner. In this methodology, a designer first constructs a model, with mathematically precise…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…
Heterogeneous computing systems, which combine general-purpose processors with specialized accelerators, are increasingly important for optimizing the performance of modern applications. A central challenge is to decide which parts of an…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Accelerator-based heterogeneous architectures, such as CPU-GPU, CPU-TPU, and CPU-FPGA systems, are widely adopted to support the popular artificial intelligence (AI) algorithms that demand intensive computation. When deployed in real-time…
We introduce Habitat 2.0 (H2.0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios. We make comprehensive contributions to all levels of the embodied AI stack - data,…
A configuration of $n$ unit-cube-shaped \textit{modules} (or \textit{robots}) is a lattice-aligned placement of the $n$ modules so that their union is face-connected. The reconfiguration problem aims at finding a sequence of moves that…
With a view to managing the increasing traffic in computer networks, round robin arbiter has been proposed to work with packet switching system to have increased speed in providing access and scheduling. Round robin arbiter is a doorway to…
In this paper we present Hyper-Dimensional Reconfigurable Analytics at the Tactical Edge (HyDRATE) using low-SWaP embedded hardware that can perform real-time reconfiguration at the edge leveraging non-MAC (free of floating-point…
Simulating stiff materials in applications where deformations are either not significant or can safely be ignored is a pivotal task across fields. Rigid body modeling has thus long remained a fundamental tool and is, by far, the most…