相关论文: Slaving and disabling actuators with voice-coil ad…
Reinforcement Learning (RL) presents a new approach for controlling Adaptive Optics (AO) systems for Astronomy. It promises to effectively cope with some aspects often hampering AO performance such as temporal delay or calibration errors.…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback controller are jointly trained to enforce…
Large Vision-Language-Action (VLA) models, leveraging powerful pre trained Vision-Language Models (VLMs) backends, have shown promise in robotic control due to their impressive generalization ability. However, the success comes at a cost.…
Transformation optics offers an unconventional approach to the control of electromagnetic fields. A transformation optical structure is designed by first applying a form-invariant coordinate transform to Maxwell's equations, in which part…
The impressive capabilities of Large Language Models (LLMs) have led to various efforts to enable robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interaction The goal is for the…
Multiple studies in the past have shown that there is a strong correlation between human vocal characteristics and facial features. However, existing approaches generate faces simply from voice, without exploring the set of features that…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…
To promote structurally flexible controllers in self-adaptive software systems, this paper proposes the use of micro-controllers. Instead of generic monolithic controllers, like Rainbow, we advocate the use of service-specific…
Deploying Vision Transformers (ViTs) on near-sensor analog accelerators demands training pipelines that are explicitly aligned with device-level noise and energy constraints. We introduce a compact framework for silicon-photonic execution…
Functional tunability, environmental adaptability, and easy fabrication are highly desired properties in metasurfaces. Here we provide a tunable bilayer metasurface composed of two stacked identical dielectric magnetic mirrors, which are…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
The advancement of large language models (LLMs) prompts the development of multi-modal agents, which are used as a controller to call external tools, providing a feasible way to solve practical tasks. In this paper, we propose a multi-modal…
Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge.…
An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that using negative capacitance shunt, the spring constant of…
Large language models exhibit sophisticated capabilities, yet understanding how they work internally remains a central challenge. A fundamental obstacle is that training selects for behavior, not circuitry, so many weight configurations can…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
Novel assembly processes for nanocircuits could present compelling alternatives to the detailed design and placement currently used for computers. The resulting architectures however may not be programmable by standard means. In this paper,…
Prompts have been proven to play a crucial role in large language models, and in recent years, vision models have also been using prompts to improve scalability for multiple downstream tasks. In this paper, we focus on adapting prompt…
Reluctance actuators are preferred for high-precision applications. Due to resistive losses in the coils, the accuracy of this type of actuator will reduce in quasi-static operation mode within a vacuum environment. By using soft permanent…