相关论文: Displacement-Actuated Continuum Robots: A Joint Sp…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

We explore the notion of spatial extent and structure, already alluded to in earlier literature, within the formulation of quantum mechanics on the noncommutative plane. Introducing the notion of average position and its measurement, we…

During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

The paper offers general technical facts on the kinematics of a moving continuum involved in research on robotic following of flexible extended objects.

In the domain of combat simulations, the training and deployment of deep reinforcement learning (RL) agents still face substantial challenges due to the dynamic and intricate nature of such environments. Unfortunately, as the complexity of…

Some concepts, such as non-compactness measure and condensing operators, defined on metric spaces are extended to uniform spaces. Such extensions allow us to locate, in the context of uniform spaces, some classical results existing in…

Distributed abstract programs are a novel class of distributed optimization problems where (i) the number of variables is much smaller than the number of constraints and (ii) each constraint is associated to a network node. Abstract…

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators…

Recent advances in fine-grained representation learning leverage local-to-global (emergent) relationships for achieving state-of-the-art results. The relational representations relied upon by such methods, however, are abstract. We aim to…

This short paper discusses continually updated causal abstractions as a potential direction of future research. The key idea is to revise the existing level of causal abstraction to a different level of detail that is both consistent with…

We describe a derivational approach to abstract interpretation that yields novel and transparently sound static analyses when applied to well-established abstract machines for higher-order and imperative programming languages. To…

We present a geometric framework for understanding Transformer-based language models, drawing an explicit analogy to General Relativity. Queries and keys induce an effective metric on representation space, and attention acts as a discrete…

Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…

Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may…

Context: Reynolds showed us how to use continuation-passing style and defunctionalization to transform a recursive interpreter for a language into an abstract machine for programs in that language. The same techniques explain other…

A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…

Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…

Commuting and noncommuting space-time coordinates in a class of deformed special relativity theories are investigated. Their momentum space representation, transformation behaviour, space-time algebra, invariants and the corresponding field…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…