相关论文: Kinematic Resolutions of Redundant Robot Manipulat…

Modeling quantum many-body systems is enormously challenging due to the exponential scaling of Hilbert dimension with system size. Finding efficient compressions of the wavefunction is key to building scalable models. Here, we introduce…

Bidding in real-time auctions can be a difficult stochastic control task; especially if underdelivery incurs strong penalties and the market is very uncertain. Most current works and implementations focus on optimally delivering a campaign…

Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controller. This approach is in parallel with Model Predictive…

In order to obtain a compact line segment-based map representation for localization and planning of mobile robots, it is necessary to merge redundant line segments which physically represent the same part of the environment in different…

We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…

In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…

A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…

Recurrent Neural Networks (RNN) can be difficult to deploy on resource constrained devices due to their size.As a result, there is a need for compression techniques that can significantly compress RNNs without negatively impacting task…

Training robots to operate effectively in environments with uncertain states, such as ambiguous object properties or unpredictable interactions, remains a longstanding challenge in robotics. Imitation learning methods typically rely on…

Quantum Neuromorphic Computing (QNC) merges quantum computation with neural computation to create scalable, noise-resilient algorithms for quantum machine learning (QML). At the core of QNC is the quantum perceptron (QP), which leverages…

Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…

Quantum neural networks (QNNs) suffer from severe gate-level redundancy, which hinders their deployment on noisy intermediate-scale quantum (NISQ) devices. In this work, we propose q-iPrune, a one-shot structured pruning framework grounded…

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…

This work presents a novel ensemble of Bayesian Neural Networks (BNNs) for control of safety-critical systems. Decision making for safety-critical systems is challenging due to performance requirements with significant consequences in the…

We explore the interplay of quantum computing and machine learning to advance experimental protocols for observing measurement-induced phase transitions (MIPT) in quantum devices. In particular, we focus on trapped ion monitored circuits…

Vision based control of Unmanned Aerial Vehicles (UAVs) has been adopted by a wide range of applications due to the availability of low-cost on-board sensors and computers. Tuning such systems to work properly requires extensive domain…

Recurrent Neural Networks (RNNs) can encode rich dynamics which makes them suitable for modeling dynamic systems. To train an RNN for multi-step prediction of dynamic systems, it is crucial to efficiently address the state initialization…

Recurrent neural networks (RNNs) can be interpreted as discrete-time state-space models, where the state evolution corresponds to an infinite-impulse-response (IIR) filtering operation governed by both feedforward weights and recurrent…

A wide range of physical phenomena exhibit auxiliary admissibility criteria, such as conservation of entropy or various energies, which arise implicitly under the exact solution of their governing PDEs. However, standard temporal schemes,…