Related papers: DORA: Dataflow Oriented Robotic Architecture
Deploying robot learning methods to aerial robots in unstructured environments remains both challenging and promising. While recent advances in deep reinforcement learning (DRL) have enabled end-to-end flight control, the field still lacks…
Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…
We consider the problem of distributionally robust multimodal machine learning. Existing approaches often rely on merging modalities on the feature level (early fusion) or heuristic uncertainty modeling, which downplays modality-aware…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques.…
A Software Reference Architecture (SRA) is a useful tool for standardising existing architectures in a specific domain and facilitating concrete architecture design, development and evaluation by instantiating SRA and using SRA as a…
The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…
The fifth generation (5G) of wireless networks must simultaneously support heterogeneous service categories, including Ultra-Reliable Low-Latency Communications (URLLC), enhanced Mobile Broadband (eMBB), and massive Machine-Type…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…
Service-Oriented Architecture (SOA) is about to enter automotive networks based on the SOME/IP middleware and an Ethernet high-bandwidth communication layer. It promises to meet the growing demands on connectivity and flexibility for…
The rapid proliferation of satellite constellations in Space-Air-Ground Integrated Networks (SAGIN) presents significant challenges for network management. Conventional flat network architectures struggle with synchronization and data…
Existing Visual-Language-Action (VLA) models have shown promising performance in zero-shot scenarios, demonstrating impressive task execution and reasoning capabilities. However, a significant challenge arises from the limitations of visual…
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary…
Responding to the "datacenter tax" and "killer microseconds" problems for datacenter applications, diverse solutions including Smart NIC-based ones have been proposed. Nonetheless, they often suffer from high overhead of communications over…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
In the resource-constrained IoT-edge computing environment, Split Federated (SplitFed) learning is implemented to enhance training efficiency. This method involves each terminal device dividing its full DNN model at a designated layer into…
The Network Function Virtualization paradigm is attracting the interest of service providers, that may greatly benefit from its flexibility and scalability properties. However, the diversity of possible orchestrated services, rises the…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on different robot platforms, generalist cross-embodiment robot…