相关论文: Using physics-based simulation towards eliminating…
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical…
A major aim of cosmological surveys is to test deviations from the standard $\Lambda$CDM model, but the full scientific value of these surveys will only be realised through efficient simulation methods that keep up with the increasing…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Pulsars are precision celestial clocks. When being put in a binary, the ticking conveys the secret of underlying spacetime geometrodynamics. We use pulsars to test if the gravitational interaction possesses a tiny deviation from Einstein's…
In this paper we examine the possibility of testing the equivalence principle, in its weak form, by analyzing the orbital motion of a pair of artificial satellites of different composition moving along orbits of identical shape and size in…
Tests of the Weak Equivalence Principle can reveal a new, composition dependent, force of nature or disprove many models of new physics. For the first time such a test is successfully carried out in space by the MICROSCOPE satellite. Early…
We propose DeepExplorer, a simple and lightweight metric-free exploration method for topological mapping of unknown environments. It performs task and motion planning (TAMP) entirely in image feature space. The task planner is a recurrent…
The Kepler space mission, successfully launched in March 2009, is providing continuous, high-precision photometry of thousands of stars simultaneously. The uninterrupted time-series of stars of all known pulsation types are a precious…
The proliferation of low-precision units in modern high-performance architectures increasingly burdens domain scientists. Historically, the choice in HPC was easy: can we get away with 32 bit floating-point operations and lower bandwidth…
This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission…
As part of the HESPERIA Horizon 2020 project, we developed a software package for the direct inversion of Ground Level Enhancements (GLEs) based on data of the worldwide network of Neutron Monitors (NMs). The new methodology to study the…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
We present a framework to conservatively estimate the probability that any particular planet-like transit signal observed by the Kepler mission is in fact a planet, prior to any ground-based follow-up efforts. We use Monte Carlo methods…
Low gravity environment can have a profound impact on the behaviors of biological systems, the dynamics and heat transfer of fluids, and the growth and self-organization of materials. Systematic research on the effects of gravity is crucial…
All surveys include observational biases, which makes it impossible to directly compare properties of discovered trans-Neptunian Objects (TNOs) with dynamical models. However, by carefully keeping track of survey pointings on the sky,…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Currently, over forty transiting planets have been discovered by ground-based photometric surveys, and space-based missions like Kepler and CoRoT are expected to detect hundreds more. Follow-up photometric observations from the ground will…
The detection of gravitational waves by the LIGO-Virgo-KAGRA collaboration has ushered in a new era of observational astronomy, emphasizing the need for rapid and detailed parameter estimation and population-level analyses. Traditional…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…