Related papers: frax: Fast Robot Kinematics and Dynamics in JAX
Parallel functional array languages are an emerging class of programming languages that promise to combine low-effort parallel programming with good performance and performance portability. We systematically compare the designs and…
The Abstraction and Reasoning Corpus (ARC) tests AI systems' ability to perform human-like inductive reasoning from a few demonstration pairs. Existing Gymnasium-based RL environments severely limit experimental scale due to computational…
RSL-RL is an open-source Reinforcement Learning library tailored to the specific needs of the robotics community. Unlike broad general-purpose frameworks, its design philosophy prioritizes a compact and easily modifiable codebase, allowing…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
Parameter-efficient fine-tuning (PEFT) methods have emerged as a practical solution for adapting large foundation models to downstream tasks, reducing computational and memory costs by updating only a small subset of parameters. Among them,…
Generating accurate and realistic virtual human movements in real-time is of high importance for a variety of applications in computer graphics, interactive virtual environments, robotics, and biomechanics. This paper introduces a novel…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
Inspired by natural evolutionary processes, Evolutionary Computation (EC) has established itself as a cornerstone of Artificial Intelligence. Recently, with the surge in data-intensive applications and large-scale complex systems, the…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot learning has been accelerated by the…
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
In this paper we focus on the integration of high-performance numerical libraries in ab initio codes and the portability of performance and scalability. The target of our work is FLEUR, a software for electronic structure calculations…
We present SymForce, a library for fast symbolic computation, code generation, and nonlinear optimization for robotics applications like computer vision, motion planning, and controls. SymForce combines the development speed and flexibility…
Modern imaging instruments can produce terabytes to petabytes of data for a single experiment. The biggest barrier to processing big image datasets has been computational, where image analysis algorithms often lack the efficiency needed to…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…