相关论文: Feature-Based Compliance Control for Peg-in-Hole A…

Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In this paper, we propose a novel…

The concept and synthesis approach for planar Compliant Fluidic Control Structures (CFCSs), monolithic flexible continua with embedded functional pores, is presented in this manuscript. Such structures are envisioned to find application in…

Gating modules have been widely explored in dynamic network pruning to reduce the run-time computational cost of deep neural networks while preserving the representation of features. Despite the substantial progress, existing methods remain…

The contribution of this paper is threefold: first, it defines a framework for modelling component-based systems, as well as a formalization of integration rules to combine their behavior. This is based on finite state machines (FSM).…

One of the key challenges in federated learning (FL) is local data distribution heterogeneity across clients, which may cause inconsistent feature spaces across clients. To address this issue, we propose a novel method FedFM, which guides…

The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…

State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…

Controlling structural complexity, particularly the number of holes, remains a fundamental challenge in topology optimization, with significant implications for both theoretical analysis and manufacturability. Most existing approaches rely…

A comprehensive framework for detection and characterization of overlapping intrinsic symmetry over 3D shapes is proposed. To identify prominent symmetric regions which overlap in space and vary in form, the proposed framework is decoupled…

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…

Addressable self-assembly is the formation of a target structure from a set of unique molecular or colloidal building-blocks, each of which occupies a defined location in the target. The requirement that each type of building-block appears…

Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…

Autonomous driving perception models are typically composed of multiple functional modules that interact through complex relationships to accomplish environment understanding. However, perception models are predominantly optimized as a…

Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…

Ramp metering, which regulates the flow entering the freeway, is one of the most effective freeway traffic control methods. This paper introduces an output-feedback adaptive approach to ramp metering that combines model predictive control…

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…

As, the number of vehicles are increased day by day in rapid manner. It causes the problem of traffic congestion, pollution (noise and air). To overcome this problem A FPGA based parking system has been proposed. In this paper, parking…

In clinical applications, the utility of segmentation models is often based on the accuracy of derived downstream metrics such as organ size, rather than by the pixel-level accuracy of the segmentation masks themselves. Thus, uncertainty…

Learning based video compression attracts increasing attention in the past few years. The previous hybrid coding approaches rely on pixel space operations to reduce spatial and temporal redundancy, which may suffer from inaccurate motion…