相关论文: Sim2real for Autonomous Vehicle Control using Exec…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

Deep Reinforcement Learning (DRL) has shown remarkable success in solving complex tasks across various research fields. However, transferring DRL agents to the real world is still challenging due to the significant discrepancies between…

This paper presents a Digital Twin (DT) of a 6G communications system testbed that integrates two robotic manipulators with a high-precision optical infrared tracking system in Unreal Engine 5. Practical details of the setup and…

Training effective artificial intelligence models for telecommunications is challenging due to the scarcity of deployment-specific data. Real data collection is expensive, and available datasets often fail to capture the unique operational…

This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation, developing…

In this paper, we study a digital twin (DT)-empowered integrated sensing, communication, and computation network. Specifically, the users perform radar sensing and computation offloading on the same spectrum, while unmanned aerial vehicles…

Unmanned aerial vehicles (UAVs) enhance coverage and provide flexible deployment in 5G and next-generation wireless networks. The performance of such wireless networks can be improved by developing new navigation and wireless adaptation…

We introduce Transformer-based Neural Quantum Digital Twins (Tx-NQDTs) to simulate full adiabatic dynamics of many-body quantum systems, including ground and low-lying excited states, at low computational cost. Tx-NQDTs employ a…

A practical approach to learning robot skills, often termed sim2real, is to train control policies in simulation and then deploy them on a real robot. Popular techniques to improve the sim2real transfer build on domain randomization (DR) --…

Simulation-to-Real (Sim2Real) transfer learning, the machine learning technique that efficiently solves a real-world task by leveraging knowledge from computational data, has received increasing attention in materials science as a promising…

High-performance computing (HPC) workloads are becoming increasingly diverse, exhibiting wide variability in job characteristics, yet cluster scheduling has long relied on static, heuristic-based policies. In this work we present SchedTwin,…

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…

Emerging technologies and applications make the network unprecedentedly complex and heterogeneous, leading physical network practices to be costly and risky. The digital twin network (DTN) can ease these burdens by virtually enabling users…

Connected and automated vehicles (CAVs) are supposed to share the road with human-driven vehicles (HDVs) in a foreseeable future. Therefore, considering the mixed traffic environment is more pragmatic, as the well-planned operation of CAVs…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

Traffic signal control (TSC) is a complex and important task that affects the daily lives of millions of people. Reinforcement Learning (RL) has shown promising results in optimizing traffic signal control, but current RL-based TSC methods…

Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…