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The growing adoption of Rust for its memory safety and performance has increased the demand for effective migration of legacy C codebases. However, existing rule-based translators (e.g., \ctorust) often generate verbose, non-idiomatic code…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Reinforcement learning (RL) algorithms can enable high-maneuverability in unmanned aerial vehicles (MAVs), but transferring them from simulation to real-world use is challenging. Variable-pitch propeller (VPP) MAVs offer greater agility,…
Bento provides a new approach to developing file systems, with safety and high-velocity development in mind. This is achieved by using Rust, a modern and memory-safe systems programming language, and by providing a framework to run a single…
Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…
This paper addresses the challenges of Rhythmic Insertion Tasks (RIT), where a robot must repeatedly perform high-precision insertions, such as screwing a nut into a bolt with a wrench. The inherent difficulty of RIT lies in achieving…
In this paper the new methods and devices introduced into the learning process of programming for IT engineers at our college is described. Based on our previous research results we supposed that project methods and some new devices can…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…
Innovative ideas are continuously emerging to produce better life conditions where essential human needs are supposed to be fulfilled with perfect scenarios leading us to propose modern strategies drawing the future of smart cities. In this…
Tock began 10 years ago as a research operating system developed by academics to help other academics build urban sensing applications. By leveraging a new language (Rust) and new hardware protection mechanisms, Tock enabled…
We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combining the ease-of-use of a high-level programming language…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
All modern web browsers - Internet Explorer, Firefox, Chrome, Opera, and Safari - have a core rendering engine written in C++. This language choice was made because it affords the systems programmer complete control of the underlying…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
This paper presents different possibilities of using mobile robots in education. Through the application of mobile mechatronic robotic system "Robotino" this paper shows the possibilities of developing interactive lectures and exercises in…
The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…
The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…