相关论文: Closed loop interactions between spiking neural ne…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…
A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Simulation code for conventional supercomputers serves as a reference for neuromorphic computing systems. The present bottleneck of distributed large-scale spiking neuronal network simulations is the communication between compute nodes.…
This paper introduces a novel framework integrating nonlinear acoustic computing and reinforcement learning to enhance advanced human-robot interaction under complex noise and reverberation. Leveraging physically informed wave equations…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
This paper explores the integration of visual communication and musical interaction by implementing a robotic camera within a "Guided Harmony" musical game. We aim to examine co-creative behaviors between human musicians and robotic…
Cortical neurons include many sub-cellular processes, operating at multiple timescales, which may affect their response to stimulation through non-linear and stochastic interaction with ion channels and ionic concentrations. Since new…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
This study explores the design and control of the behaviour of agents and robots using simple circuits of spiking neurons and Spike Timing Dependent Plasticity (STDP) as a mechanism of associative and unsupervised learning. Based on a…
A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the optimal control input. Since this approach relies on online…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
In hazardous environments, sensors and actuators can be deployed to see and operate on behalf of humans, enabling safe and efficient task execution. Functioning as a neural center, the edge information hub (EIH), which integrates…
Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot…
Neurotechnologies are transforming how we measure, interpret, and modulate brain-body interactions, integrating real-time sensing, computation, and stimulation to enable precise physiological control. They hold transformative potential…