相关论文: ZJUNlict Extended Team Description Paper for RoboC…

Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…

This paper describes the dialog robot system designed by Team Irisapu for the preliminary round of the Dialogue Robot Competition 2022 (DRC2022). Our objective was to design a hospitable travel agent robot. The system we developed was…

Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic…

In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps:…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level…

Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper…

Autonomous racing provides the opportunity to test safety-critical perception pipelines at their limit. This paper describes the practical challenges and solutions to applying state-of-the-art computer vision algorithms to build a…

Communication overhead is a key challenge in distributed deep learning, especially on slower Ethernet interconnects, and given current hardware trends, communication is likely to become a major bottleneck. While gradient compression…

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…

We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations.…

Performance indicators that contributed to success at the group stage and play-off stages of the 2019 Rugby World Cup were analysed using publicly available data obtained from the official tournament website using both a non-parametric…

As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…

We present MLTCP, a technique to augment today's congestion control algorithms to accelerate DNN training jobs in shared GPU clusters. MLTCP enables the communication phases of jobs that compete for network bandwidth to interleave with each…

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans.The Partner Robot…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…

As robot systems become more ubiquitous, developing understandable robot systems becomes increasingly important in order to build trust. In this paper, we present an approach to developing a holistic robot explanation system, which consists…

Feedback optimisation is an emerging technique aiming at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove…

To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near future, and plan its actions correspondingly. Specifically, the…