相关论文: SGTM 2.0: Autonomously Untangling Long Cables usin…
The creation of a quantum network requires the distribution of coherent information across macroscopic distances. We demonstrate the entanglement of two superconducting qubits, separated by more than a meter of coaxial cable, by designing a…
Multitask learning is a widely used paradigm for training models on diverse tasks, with applications ranging from graph neural networks to language model fine-tuning. Since tasks may interfere with each other, a key notion for modeling…
Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements…
Transmission control protocol (TCP) congestion control is one of the key techniques to improve network performance. TCP congestion control algorithm identification (TCP identification) can be used to significantly improve network…
We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we remove high-dimensional 15-degree-of-freedom drift and planar…
Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a…
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned simulation priors to inform…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
We propose the concept of autonomous self-damaging in "smart" composite materials, controlled by activation of added nanosize "damaging" capsules. Percolation-type modeling approach earlier applied to the related concept of self-healing…
This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…
This work presents a perception system applied to robotic manipulation, that is able to assist in navigation, household waste classification and collection in outdoor environments. This system is made up of optical tactile sensors, RGBD…
Entanglement is the key resource for many long-range quantum information tasks, including secure communication and fundamental tests of quantum physics. These tasks require robust verification of shared entanglement, but performing it over…
When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing…
Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…
Accurately forecasting the future movements of surrounding vehicles is essential for safe and efficient operations of autonomous driving cars. This task is difficult because a vehicle's moving trajectory is greatly determined by its…
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation with a master-slave system and teaching operation of robots.…
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have…
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…