相关论文: Dynamic Task Control Method of a Flexible Manipula…

Benefiting from the joint learning of the multiple tasks in the deep multi-task networks, many applications have shown the promising performance comparing to single-task learning. However, the performance of multi-task learning framework is…

Conditional diffusion models have made impressive progress in the field of image processing, but the characteristics of constructing data distribution pathways make it difficult to exploit the intrinsic correlation between tasks in…

Robotic perception models, such as Deep Neural Networks (DNNs), are becoming more computationally intensive and there are several models being trained with accuracy and latency trade-offs. However, modern latency accuracy trade-offs largely…

A novel hierarchical Deep Neural Network (DNN) model is presented to address the task of end-to-end driving. The model consists of a master classifier network which determines the driving task required from an input stereo image and directs…

Sophisticated multilayer neural networks have achieved state of the art results on multiple supervised tasks. However, successful applications of such multilayer networks to control have so far been limited largely to the perception portion…

Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…

Reconstructing dynamic hand-object contacts is essential for realistic manipulation in AI character animation, XR, and robotics, yet it remains challenging due to heavy occlusions, complex surface details, and limitations in existing…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…

This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…

Deep reinforcement learning algorithms are usually impeded by sampling inefficiency, heavily depending on multiple interactions with the environment to acquire accurate decision-making capabilities. In contrast, humans rely on their…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

The motor control problem involves determining the time-varying muscle activation trajectories required to accomplish a given movement. Muscle redundancy makes motor control a challenging task: there are many possible activation…

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure. Since the structure of…

The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for object recognition, contact detection, and contact control…

Modern deep neural networks increasingly make use of features such as dynamic control flow, data structures and dynamic tensor shapes. Existing deep learning systems focus on optimizing and executing static neural networks which assume a…

We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern…

Batching has a fundamental influence on the efficiency of deep neural network (DNN) execution. However, for dynamic DNNs, efficient batching is particularly challenging as the dataflow graph varies per input instance. As a result,…

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…

Deep Convolutional Neural Networks (DCNNs) are currently popular in human activity recognition applications. However, in the face of modern artificial intelligence sensor-based games, many research achievements cannot be practically applied…