相关论文: Adapted Pepper
As the need for computational power and efficiency rises, parallel systems become increasingly popular among various scientific fields. While multiple core-based architectures have been the center of attention for many years, the rapid…
The present research builds on a recently proposed spatial prediction method for discretized two-dimensional data, based on a suitably modified planar rotator (MPR) spin model from statistical physics. This approach maps the measured data…
Mixed Reality (MR) is becoming ubiquitous as it finds its applications in education, healthcare, and other sectors beyond leisure. While MR end devices, such as headsets, have low energy intensity, the total number of devices and resource…
Accurately controlling a robotic system in real time is a challenging problem. To address this, the robotics community has adopted various algorithms, such as Model Predictive Control (MPC) and Model Predictive Path Integral (MPPI) control.…
This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…
Human-robot studies are expensive to conduct and difficult to control, and as such researchers sometimes turn to human-avatar interaction in the hope of faster and cheaper data collection that can be transferred to the robot domain. In…
Large language models have achieved remarkable capabilities through scaling, and this paper does not challenge that. It instead investigates a different question: once large models already exist, can they become more accessible to…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
GPUs and other accelerators are popular devices for accelerating compute-intensive, parallelizable applications. However, programming these devices is a difficult task. Writing efficient device code is challenging, and is typically done in…
In recent decades, High Performance Computing (HPC) has undergone significant enhancements, particularly in the realm of hardware platforms, aimed at delivering increased processing power while keeping power consumption within reasonable…
Internet of Things(IoT) devices, mobile phones, and robotic systems are often denied the power of deep learning algorithms due to their limited computing power. However, to provide time-critical services such as emergency response, home…
The paper considers the problem of implementation on graphics processors of numerical integration routines for higher order finite element approximations. The design of suitable GPU kernels is investigated in the context of general purpose…
Accurate hardware performance models are critical to efficient code generation. They can be used by compilers to make heuristic decisions, by superoptimizers as a minimization objective, or by autotuners to find an optimal configuration for…
Model predictive control (MPC) has become a hot cake technology for various applications due to its ability to handle multi-input multi-output systems with physical constraints. The optimization solvers require considerable time, limiting…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…