相关论文: Black-Box vs. Gray-Box: A Case Study on Learning T…

Analyzing a player's technique in table tennis requires knowledge of the ball's 3D trajectory and spin. While, the spin is not directly observable in standard broadcasting videos, we show that it can be inferred from the ball's trajectory…

Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…

We present an implementation of an online optimization algorithm for hitting a predefined target when returning ping-pong balls with a table tennis robot. The online algorithm optimizes over so-called interception policies, which define the…

The rapid and precise localization and prediction of a ball are critical for developing agile robots in ball sports, particularly in sports like tennis characterized by high-speed ball movements and powerful spins. The Magnus effect induced…

Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…

Learning to play table tennis is a challenging task for robots, as a wide variety of strokes required. Recent advances have shown that deep Reinforcement Learning (RL) is able to successfully learn the optimal actions in a simulated…

We discuss the theoretical machinery involved in predicting financial market movements using an artificial market model which has been trained on real financial data. This approach to market prediction - in particular, forecasting financial…

In table tennis, the rotation (spin) of the ball plays a crucial role. A table tennis match will feature a variety of strokes. Each generates different amounts and types of spin. To develop a robot that can compete with a human player, the…

We present that, instead of establishing the equations of motion, one can model-freely reveal the dynamical properties of a black-box system using a learning machine. Trained only by a segment of time series of a state variable recorded at…

This paper presents a problem of model learning for the purpose of learning how to navigate a ball to a goal state in a circular maze environment with two degrees of freedom. The motion of the ball in the maze environment is influenced by…

Traffic state prediction is necessary for many Intelligent Transportation Systems applications. Recent developments of the topic have focused on network-wide, multi-step prediction, where state of the art performance is achieved via deep…

The game of table tennis is renowned for its extremely high spin rate, but most table tennis robots today struggle to handle balls with such rapid spin. To address this issue, we have contributed a series of methods, including: 1.…

Sports analysis requires processing large amounts of data, which is time-consuming and costly. Advancements in neural networks have significantly alleviated this burden, enabling highly accurate ball tracking in sports broadcasts. However,…

Spin plays a pivotal role in ball-based sports. Estimating spin becomes a key skill due to its impact on the ball's trajectory and bouncing behavior. Spin cannot be observed directly, making it inherently challenging to estimate. In table…

We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This…

We present a robotic table tennis platform that achieves a variety of hit styles and ball-spins with high precision, power, and consistency. This is enabled by a custom lightweight, high-torque, low rotor inertia, five degree-of-freedom arm…

Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to…

Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…

We study the problem of predictive runtime monitoring of black-box dynamical systems with quantitative safety properties. The black-box setting stipulates that the exact semantics of the dynamical system and the controller are unknown, and…

This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the…