相关论文: CycleIK: Neuro-inspired Inverse Kinematics

Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per…

Training a model to perform a task typically requires a large amount of data from the domains in which the task will be applied. However, it is often the case that data are abundant in some domains but scarce in others. Domain adaptation…

The Synthetic Nervous System (SNS) is a biologically inspired neural network (NN). Due to its capability of capturing complex mechanisms underlying neural computation, an SNS model is a candidate for building compact and interpretable NN…

The eikonal equation is utilized across a wide spectrum of science and engineering disciplines. In seismology, it regulates seismic wave traveltimes needed for applications like source localization, imaging, and inversion. Several numerical…

This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks…

Neural networks have become an increasingly popular tool for solving many real-world problems. They are a general framework for differentiable optimization which includes many other machine learning approaches as special cases. In this…

We propose and analyse a variant of the recently introduced kinetic based optimization method that incorporates ideas like survival-of-the-fittest and mutation strategies well-known from genetic algorithms. Thus, we provide a first attempt…

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…

We introduce the Self-Adaptive Goal Generation - Robust Intelligent Adaptive Curiosity (SAGG-RIAC) architecture as an intrinsi- cally motivated goal exploration mechanism which allows active learning of inverse models in high-dimensional…

This work introduces a new approach for accelerating the numerical analysis of time-domain partial differential equations (PDEs) governing complex physical systems. The methodology is based on a combination of a classical reduced-order…

The development of artificial intelligence (AI) and robotics are both based on the tenet of "science and technology are people-oriented", and both need to achieve efficient communication with the human brain. Based on multi-disciplinary…

Deep Reinforcement Learning has been successfully applied to learn robotic control. However, the corresponding algorithms struggle when applied to problems where the agent is only rewarded after achieving a complex task. In this context,…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Human brain and behavior provide a rich venue that can inspire novel control and learning methods for robotics. In an attempt to exemplify such a development by inspiring how humans acquire knowledge and transfer skills among tasks, we…

The inverse mapping of GANs'(Generative Adversarial Nets) generator has a great potential value.Hence, some works have been developed to construct the inverse function of generator by directly learning or adversarial learning.While the…

The optimization of structural parameters, such as mass(m), stiffness(k), and damping coefficient(c), is critical for designing efficient, resilient, and stable structures. Conventional numerical approaches, including Finite Element Method…

Slinky, a helical elastic rod, is a seemingly simple structure with unusual mechanical behavior; for example, it can walk down a flight of stairs under its own weight. Taking Slinky as a test-case, we propose a physics-informed deep…

This paper presents the open-source robot inverse kinematics (IK) solver IK-Geo, the fastest general IK solver based on published literature. In this unifying approach, IK for any 6-DOF all-revolute (6R) manipulator is decomposed into six…

The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…

Neuromorphic data carries information in spatio-temporal patterns encoded by spikes. Accordingly, a central problem in neuromorphic computing is training spiking neural networks (SNNs) to reproduce spatio-temporal spiking patterns in…