相关论文: Active Cloaking in Stokes Flows via Reinforcement …

Microorganisms often encounter strong confinement and complex hydrodynamic flows while navigating their habitats. Combining finite-element methods and stochastic simulations, we study the interplay of active transport and heterogeneous…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Learning by interaction is the key to skill acquisition for most living organisms, which is formally called Reinforcement Learning (RL). RL is efficient in finding optimal policies for endowing complex systems with sophisticated behavior.…

In this work, we develop a general mathematical framework on regularized approximate cloaking of elastic waves governed by the Lam\'e system via the approach of transformation elastodynamics. Our study is rather comprehensive. We first…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

The swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent is studied in low Reynolds number hydrodynamics. The instantaneous swimming velocity and rate of dissipation are expressed in terms of the…

Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…

The method of transformation optics has been a powerful tool to manipulate physical fields if governing equations are formally invariant under coordinate transformations. However, regulation of hydrodynamics is still far from satisfactory…

We investigate the emergence of cohesive flocking in open, boundless space using a multi-agent reinforcement learning framework. Agents integrate positional and orientational information from their closest topological neighbours and learn…

Ribbons are long narrow strips possessing three distinct material length scales (thickness, width, and length) which allow them to produce unique shapes unobtainable by wires or filaments. For example when a ribbon has half a twist and is…

Friction is central to the motion of active (self-propelled) objects such as bacteria, animals, and robots. While in a viscous fluid friction is described by Stokes's law, objects in contact with other solid bodies are often governed by…

The ability to control electromagnetic fields, heat currents, electric currents, and other physical phenomena by coordinate transformation methods has resulted in novel functionalities, such as cloaking, field rotations, and concentration…

Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…

Performing intervention tasks in the maritime domain is crucial for safety and operational efficiency. The unpredictable and dynamic marine environment makes the intervention tasks such as object manipulation extremely challenging. This…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

Here we show that micro-swimmers can form a concealed swarm through synergistic cooperation in suppressing one another's disturbing flows. We then demonstrate how such a concealed swarm can actively gather around a favorite spot, point…

Nanoswimmers are ubiquitous in bio- and nano-technology but are extremely challenging to measure due to their minute size and driving forces. A simple method is proposed for detecting the elusive physical features of nanoswimmers by…

We investigate theoretically the collective dynamics of a suspension of low Reynolds number swimmers that are confined to two dimensions by a thin fluid film. Our model swimmer is characterized by internal degrees of freedom which locally…

In this paper, we present an approach based on reinforcement learning for eye tracking data manipulation. It is based on two opposing agents, where one tries to classify the data correctly and the second agent looks for patterns in the…