相关论文: Differentiable Forward Kinematics for TensorFlow 2

Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…

We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Scene flow is a challenging task aimed at jointly estimating the 3D structure and motion of the sensed environment. Although deep learning solutions achieve outstanding performance in terms of accuracy, these approaches divide the whole…

Computational Fluid Dynamics (CFD) is used in the design and optimization of gas turbines and many other industrial/ scientific applications. However, the practical use is often limited by the high computational cost, and the accurate…

Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…

Neural Scene Flow Prior (NSFP) is of significant interest to the vision community due to its inherent robustness to out-of-distribution (OOD) effects and its ability to deal with dense lidar points. The approach utilizes a coordinate neural…

The next generation of force fields for molecular dynamics will be developed using a wealth of data. Training systematically with experimental data remains a challenge, however, especially for machine learning potentials. Differentiable…

Gradient-based hyperparameter optimization has earned a widespread popularity in the context of few-shot meta-learning, but remains broadly impractical for tasks with long horizons (many gradient steps), due to memory scaling and gradient…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

In this paper, we introduce proximal gradient temporal difference learning, which provides a principled way of designing and analyzing true stochastic gradient temporal difference learning algorithms. We show how gradient TD (GTD)…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

The identification of a mathematical dynamics model is a crucial step in the designing process of a controller. However, it is often very difficult to identify the system's governing equations, especially in complex environments that…

Conventional physically based rendering (PBR) pipelines generate photorealistic images through computationally intensive light transport simulations. Although recent deep learning approaches leverage diffusion model priors with geometry…

This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear…

Reinforcement learning (RL) in continuous state-action spaces remains challenging in scientific computing due to poor sample efficiency and lack of pathwise physical consistency. We introduce Differential Reinforcement Learning…