相关论文: SMaRCSim: Maritime Robotics Simulation Modules

In the evolving landscape of education, robotics has emerged as a powerful tool for fostering creativity, critical thinking, and problem-solving skills among students of all ages. This innovative approach to learning seamlessly integrates…

Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these…

Pogobots are a new type of open-source/open-hardware robots specifically designed for swarm robotics research. Their cost-effective and modular design, complemented by vibration-based and wheel-based locomotion, fast infrared communication…

Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

Rapid progress in imitation learning, foundation models, and large-scale datasets has led to robot manipulation policies that generalize to a wide-range of tasks and environments. However, rigorous evaluation of these policies remains a…

In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

We introduce a novel virtual robotic toolkit myGym, developed for reinforcement learning (RL), intrinsic motivation and imitation learning tasks trained in a 3D simulator. The trained tasks can then be easily transferred to real-world…

Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…

Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…

In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…

Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driven by the extensive use of simulation as a critical tool for…

In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…

This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…

Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…

User simulation is a valuable methodology for evaluation in Information Retrieval (IR), enabling low-cost experimentation and counterfactual analysis. However, existing simulation frameworks are primarily code-centric libraries that require…