相关论文: A Failure Identification and Recovery Framework fo…

This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…

Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…

Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…

While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learning paradigms rely on either costly and unsafe real-world data…

Fault-aware retraining has emerged as a prominent technique for mitigating permanent faults in Deep Neural Network (DNN) hardware accelerators. However, retraining leads to huge overheads, specifically when used for fine-tuning large DNNs…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

Network coding-based link failure recovery techniques provide near-hitless recovery and offer high capacity efficiency. Diversity coding is the first technique to incorporate coding in this field and is easy to implement over small…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

Prediction of failures in real-world robotic systems either requires accurate model information or extensive testing. Partial knowledge of the system model makes simulation-based failure prediction unreliable. Moreover, obtaining such…

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art…

Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to occlusions, limited viewpoints, or unexpected environmental…

Accurate Defect detection is crucial for ensuring the trustworthiness of intelligent railway systems. Current approaches rely on single deep-learning models, like CNNs, which employ a large amount of data to capture underlying patterns.…

Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability problem of a…

Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…

Semantic segmentation is an important task that helps autonomous vehicles understand their surroundings and navigate safely. During deployment, even the most mature segmentation models are vulnerable to various external factors that can…

RL post-training for LLMs has been widely scaled to enhance reasoning and tool-using capabilities. However, RL post-training interleaves training and inference workloads, exposing the system to faults from both sides. Existing fault…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Catastrophic Forgetting (CF) is a prominent issue in continual learning. Parameter isolation addresses this challenge by masking a sub-network for each task to mitigate interference with old tasks. However, these sub-networks are…

Pattern matching design verification has gained noticeable attention in semiconductor technologies as it can precisely identify more localized problematic areas (weakpoints) in the layout. To address these weakpoints, engineers adopt…

Deadlock-free dynamic network reconfiguration process is usually studied from the routing algorithm restrictions and resource reservation perspective. The dynamic nature yielded by the transition process from one routing function to another…