相关论文: CycleIK: Neuro-inspired Inverse Kinematics

Learning inter-domain mappings from unpaired data can improve performance in structured prediction tasks, such as image segmentation, by reducing the need for paired data. CycleGAN was recently proposed for this problem, but critically…

We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…

The standard engineering approach when facing uncertainty is modelling. Mixing data from a well-calibrated model with real recordings has led to breakthroughs in many applications of AI, from computer vision to autonomous driving. This type…

The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque…

This paper introduces a new method of generating realistic pervasive changes in the context of evaluating the effectiveness of change detection algorithms in controlled settings. The method, a cycle-consistent adversarial network…

This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…

Unpaired image-to-image translation is a challenging task due to the absence of paired examples, which complicates learning the complex mappings between the distinct distributions of the source and target domains. One of the most commonly…

Convolutional neural network (CNN) is a class of artificial neural networks widely used in computer vision tasks. Most CNNs achieve excellent performance by stacking certain types of basic units. In addition to increasing the depth and…

An extendable, efficient and explainable Machine Learning approach is proposed to represent cyclic plasticity and replace conventional material models based on the Radial Return Mapping algorithm. High accuracy and stability by means of a…

There is a recent surge in interest for imitation learning, with large human video-game and robotic manipulation datasets being used to train agents on very complex tasks. While deep neuroevolution has recently been shown to match the…

Generative adversarial imitation learning (GAIL) demonstrates tremendous success in practice, especially when combined with neural networks. Different from reinforcement learning, GAIL learns both policy and reward function from expert…

Dynamic System Identification approaches usually heavily rely on the evolutionary and gradient-based optimisation techniques to produce optimal excitation trajectories for determining the physical parameters of robot platforms. Current…

Despite remarkable capabilities, artificial neural networks exhibit limited flexible, generalizable intelligence. This limitation stems from their fundamental divergence from biological cognition that overlooks both neural regions'…

Deriving robust control policies for realistic urban navigation scenarios is not a trivial task. In an end-to-end approach, these policies must map high-dimensional images from the vehicle's cameras to low-level actions such as steering and…

Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…

Existing multi-agent coordination techniques are often fragile and vulnerable to anomalies such as agent attrition and communication disturbances, which are quite common in the real-world deployment of systems like field robotics. To better…

Two important tasks at the intersection of knowledge graphs and natural language processing are graph-to-text (G2T) and text-to-graph (T2G) conversion. Due to the difficulty and high cost of data collection, the supervised data available in…

Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…

We propose a recurrent neural network architecture with a Forward Kinematics layer and cycle consistency based adversarial training objective for unsupervised motion retargetting. Our network captures the high-level properties of an input…

Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…