相关论文: Nano Version Control and Robots of Robots: Data Dr…
Most business process automation is still developed using traditional automation technologies such as workflow engines. These systems provide domain specific languages that require both business knowledge and programming skills to…
This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…
The ability to handle single molecules as effectively as macroscopic building-blocks would enable the construction of complex supramolecular structures inaccessible to self-assembly. The fundamental challenges obstructing this goal are the…
Scientific workflows encode valuable domain expertise and computational methodologies. Yet studies consistently show that a significant proportion of published workflows suffer from decay over time. This problem is particularly acute for…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Resilience against stragglers is a critical element of prediction serving systems, tasked with executing inferences on input data for a pre-trained machine-learning model. In this paper, we propose NeRCC, as a general straggler-resistant…
Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…
Scientists rely on simulations to study natural phenomena. Trusting the simulation results is vital to develop sciences in any field. One approach to build trust is to ensure the reproducibility and traceability of the simulations through…
Generative AI enables rapid ``vibe coding," where natural language prompts yield working software systems. While this lowers barriers to software creation, it also collapses the boundary between prototypes and engineered software, leading…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…
One of the goals of software design is to model a system in such a way that it is easily understandable. Nowadays the tendency for software development is changing from manual coding to automatic code generation; it is becoming model-based.…
The recent coronavirus pandemic has highlighted the many challenges faced by the healthcare, public safety, and economic systems when confronted with a surge in patients that require intensive treatment and a population that must be…
Robotics is becoming more and more ubiquitous, but the pressure to bring systems to market occasionally goes at the cost of neglecting security mechanisms during the development, deployment or while in production. As a result, contemporary…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…