相关论文: Kinematic Resolutions of Redundant Robot Manipulat…

Measurements acquired from distributed physical systems are often sparse and noisy. Therefore, signal processing and system identification tools are required to mitigate noise effects and reconstruct unobserved dynamics from limited sensor…

Isotonic regression is a nonparametric approach for fitting monotonic models to data that has been widely studied from both theoretical and practical perspectives. However, this approach encounters computational and statistical overfitting…

We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear…

Deep reinforcement learning has been applied more and more widely nowadays, especially in various complex control tasks. Effective exploration for noisy networks is one of the most important issues in deep reinforcement learning. Noisy…

This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…

Nonlinear Model Predictive Control (NMPC) is a precise controller, but its heavy computational load often prevents application in robotic systems. Some studies have attempted to approximate NMPC using deep neural networks (NMPC-DNN).…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Recurrent models are a popular choice for video enhancement tasks such as video denoising or super-resolution. In this work, we focus on their stability as dynamical systems and show that they tend to fail catastrophically at inference time…

Data-driven modeling and machine learning are widely used to model the behavior of dynamic systems. One application is the residual evaluation of technical systems where model predictions are compared with measurement data to create…

For deep neural networks (DNNs) to be used in safety-critical autonomous driving tasks, it is desirable to monitor in operation time if the input for the DNN is similar to the data used in DNN training. While recent results in monitoring…

Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…

Inverse Kinematics (IK) plays a critical role in robotic motion planning and control. The IK solutions of a robot manipulator could be done by conventional ways such as geometric, algebraic, or Jacobian methods, which have drawbacks. The…

Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…

A convolutional neural network can be constructed using numerical methods for solving dynamical systems, since the forward pass of the network can be regarded as a trajectory of a dynamical system. However, existing models based on…

Recurrent Neural Networks (RNNs) are becoming increasingly important for time series-related applications which require efficient and real-time implementations. The recent pruning based work ESE suffers from degradation of…

Sequence prediction and classification are ubiquitous and challenging problems in machine learning that can require identifying complex dependencies between temporally distant inputs. Recurrent Neural Networks (RNNs) have the ability, in…

This work proposes a hybrid modeling framework based on recurrent neural networks (RNNs) and the finite element (FE) method to approximate model discrepancies in time dependent, multi-fidelity problems, and use the trained hybrid models to…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

We present a novel approach to online multi-target tracking based on recurrent neural networks (RNNs). Tracking multiple objects in real-world scenes involves many challenges, including a) an a-priori unknown and time-varying number of…

Neural operators have emerged as powerful tools for learning solution operators of partial differential equations. However, in time-dependent problems, standard training strategies such as teacher forcing introduce a mismatch between…