相关论文: FishGym: A High-Performance Physics-based Simulati…
Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…
Humanoid robots are drawing significant attention as versatile platforms for complex motor control, human-robot interaction, and general-purpose physical intelligence. However, achieving efficient whole-body control (WBC) in humanoids…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Oysters are the living vacuum cleaners of the oceans. There is an exponential decline in the oyster population due to over-harvesting. With the current development of the automation and AI, robots are becoming an integral part of the…
Underwater robotic manipulation remains challenging because lighting variation, color attenuation, scattering, and reduced visibility can severely degrade visuomotor policies. We present Bi-AQUA, the first underwater bilateral control-based…
Understanding the long-term impact of algorithmic interventions on society is vital to achieving responsible AI. Traditional evaluation strategies often fall short due to the complex, adaptive and dynamic nature of society. While…
Educational simulations have long been recognized as powerful tools for enhancing learning outcomes, yet their creation has traditionally required substantial resources and technical expertise. This paper introduces MicroSims a novel…
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Flagellated microorganisms can swim at low Reynolds numbers and adapt to changes in their environment. Specifically, the flagella can switch their shapes or modes through gene expression. In the past decade, efforts have been made to…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…
Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…
Animal and robot social interactions are interesting both for ethological studies and robotics. On the one hand, the robots can be tools and models to analyse animal collective behaviours, on the other hand, the robots and their artificial…
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of…
To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
High-precision scientific simulation faces a long-standing trade-off between computational efficiency and physical fidelity. To address this challenge, we propose NeuralOGCM, an ocean modeling framework that fuses differentiable programming…
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…
Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…