相关论文: Interpretable Robotic Friction Learning via Symbol…

Computational modeling is a key resource to gather insight into physical systems in modern scientific research and engineering. While access to large amount of data has fueled the use of Machine Learning (ML) to recover physical models from…

This paper revisits datasets and evaluation criteria for Symbolic Regression (SR), specifically focused on its potential for scientific discovery. Focused on a set of formulas used in the existing datasets based on Feynman Lectures on…

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…

Table structure recognition (TSR) aims at extracting tables in images into machine-understandable formats. Recent methods solve this problem by predicting the adjacency relations of detected cell boxes or learning to directly generate the…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…

Conventional neural network elastoplasticity models are often perceived as lacking interpretability. This paper introduces a two-step machine learning approach that returns mathematical models interpretable by human experts. In particular,…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

Here we propose using the successor representation (SR) to accelerate learning in a constructive knowledge system based on general value functions (GVFs). In real-world settings like robotics for unstructured and dynamic environments, it is…

Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…

Scaling model-based inverse reinforcement learning (IRL) to real robotic manipulation tasks with unknown dynamics remains an open problem. The key challenges lie in learning good dynamics models, developing algorithms that scale to…

In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…

The rapid expansion of wind power worldwide underscores the critical significance of engineering-focused analytical wake models in both the design and operation of wind farms. These theoretically-derived ana lytical wake models have limited…

We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…

Holographic Reduced Representations (HRR) are a method for performing symbolic AI on top of real-valued vectors by associating each vector with an abstract concept, and providing mathematical operations to manipulate vectors as if they were…

Robots must be able to understand their surroundings to perform complex tasks in challenging environments and many of these complex tasks require estimates of physical properties such as friction or weight. Estimating such properties using…

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…

This paper addresses the problem of providing robust estimators under a functional logistic regression model. Logistic regression is a popular tool in classification problems with two populations. As in functional linear regression,…

Conventional feedback control methods can solve various types of robot control problems very efficiently by capturing the structure with explicit models, such as rigid body equations of motion. However, many control problems in modern…

Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…