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To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization…

Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…

In many particle physics experiments the data processing is based on the analysis of the digitized waveforms provided by the detector. While the waveform amplitude is usually correlated to the event energy, the shape may carry useful…

The discovery of particle filtering methods has enabled the use of nonlinear filtering in a wide array of applications. Unfortunately, the approximation error of particle filters typically grows exponentially in the dimension of the…

We consider the problem of a robot learning the mechanical properties of objects through physical interaction with the object, and introduce a practical, data-efficient approach for identifying the motion models of these objects. The…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

When tracking a target particle that is interacting with nearest neighbors in a known way, positional data of the neighbors can be used to improve the state estimate. Effects of the accuracy of such positional data on the target track…

Reducing the impact of seismic activity on the motion of suspended optics is essential for the operation of ground-based gravitational wave detectors. During periods of increased seismic activity, low-frequency ground translation and tilt…

Implicit particle filters for data assimilation update the particles by first choosing probabilities and then looking for particle locations that assume them, guiding the particles one by one to the high probability domain. We provide a…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar…

Zebrafish is an excellent model organism, which has been widely used in the fields of biological experiments, drug screening, and swarm intelligence. In recent years, there are a large number of techniques for tracking of zebrafish involved…

In many real-world continuous action domains, human agents must decide which actions to attempt and then execute those actions to the best of their ability. However, humans cannot execute actions without error. Human performance in these…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

Most measurements in particle and nuclear physics use matrix-based unfolding algorithms to correct for detector effects. In nearly all cases, the observable is defined analogously at the particle and detector level. We point out that while…

Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…