相关论文: PyRIDE: An Interactive Development Environment for…

Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…

Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…

In recent years, the concept of kirigami has been used in creating deployable structures for various scientific and technological applications. While high-fidelity Finite Element Analysis (FEA) is the standard for analyzing stress…

We build a mobile surveillance robot that streams video in real time and responds to speech so a user can monitor and steer it from a phone or browser. The system uses two Raspberry Pi 4 units: a front unit on a differential drive base with…

Microgrids, self contained electrical grids that are capable of disconnecting from the main grid, hold potential in both tackling climate change mitigation via reducing CO2 emissions and adaptation by increasing infrastructure resiliency.…

With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…

Modern robotic systems rely on hierarchical control, where a high-level "Brain" (Python) directs a lower-level "Spine" (C++ real-time controller). Despite its necessity, this hierarchy makes it difficult for the Brain to completely rewrite…

Humanoid robotics presents significant challenges in artificial intelligence, requiring precise coordination and control of high-degree-of-freedom systems. Designing effective reward functions for deep reinforcement learning (DRL) in this…

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…

Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches…

Robots are widespread across diverse application contexts. Teaching robots to perform tasks, in their respective contexts, demands a high domain and programming expertise. However, robot programming faces high entry barriers due to the…

With the large diversity of platforms and devices used by students, web applications increasingly suggest themselves as the solution of choice. Developing adequate educational programming environments in the browser, however, remains a…

Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…

Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic…

In this paper, we present Code Shrew, a new software platform accompanied by an interactive programming course. Its aim is to teach the fundamentals of computer programming by enabling users to create their own drawings and animations. The…

We give novel Python and R interfaces for the (Java) Tetrad project for causal modeling, search, and estimation. The Tetrad project is a mainstay in the literature, having been under consistent development for over 30 years. Some of its…

Creating scalable, high performance PDE-based simulations requires a suitable combination of discretizations, differential operators, preconditioners and solvers. The required combination changes with the application and with the available…

The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can…

Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We introduce CoRI, a pipeline that…

This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…