相关论文: RoboMorph: In-Context Meta-Learning for Robot Dyna…

Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…

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…

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the…

The deployment of large-scale models, such as large language models (LLMs) and sophisticated image generation systems, incurs substantial costs due to their computational demands. To mitigate these costs and address challenges related to…

In-context system identification aims at constructing meta-models to describe classes of systems, differently from traditional approaches that model single systems. This paradigm facilitates the leveraging of knowledge acquired from…

In recent years, domains such as natural language processing and image recognition have popularized the paradigm of using large datasets to pretrain representations that can be effectively transferred to downstream tasks. In this work we…

In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…

Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics. Although these methods provide a good insight into the…

When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical…

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…

Attention-based architectures trained on internet-scale language data have demonstrated state of the art reasoning ability for various language-based tasks, such as logic problems and textual reasoning. Additionally, these Large Language…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

In the area of learning-driven artificial intelligence advancement, the integration of machine learning (ML) into self-driving (SD) technology stands as an impressive engineering feat. Yet, in real-world applications outside the confines of…

In this paper, a machine learning-based simulation framework of general-purpose multibody dynamics is introduced. The aim of the framework is to generate a well-trained meta-model of multibody dynamics (MBD) systems. To this end, deep…

In recent years, the transformer architecture has become the de facto standard for machine learning algorithms applied to natural language processing and computer vision. Despite notable evidence of successful deployment of this…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

We introduce HyperMorph, a framework that facilitates efficient hyperparameter tuning in learning-based deformable image registration. Classical registration algorithms perform an iterative pair-wise optimization to compute a deformation…

Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…