相关论文: SMaRCSim: Maritime Robotics Simulation Modules
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
With the motivation and the difficulties that currently exist in comprehending and utilizing the promising features of SNNs, we proposed a novel run-time multi-core architecture-based simulator called "RAVSim" (Runtime Analysis and…
Modern astronomical surveys have multiple competing scientific goals. Optimizing the observation schedule for these goals presents significant computational and theoretical challenges, and state-of-the-art methods rely on expensive human…
Metaverse has attracted great attention from industry and academia in recent years. Metaverse for the ocean (Meta-ocean) is the implementation of the Metaverse technologies in virtual emersion of the ocean which is beneficial for people…
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Successful implementation of active learning strategies in the engineering classroom -- and in particular in certain subjects which are highly technological in nature such as, for instance, rocket engines and space propulsion -- means…
Motivated by the current demand of clinical governance, surgical simulation is now a well-established modality for basic skills training and assessment. The practical deployment of the technique is a multi-disciplinary venture encompassing…
Ongoing investigations to introduce software techniques suitable to support new experimental requirements for multi-scale simulation are discussed.
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…
We introduce OceanGym, the first comprehensive benchmark for ocean underwater embodied agents, designed to advance AI in one of the most demanding real-world environments. Unlike terrestrial or aerial domains, underwater settings present…
Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…
We demonstrate the first climate-scale, numerical ocean simulations improved through distributed, online inference of Deep Neural Networks (DNN) using SmartSim. SmartSim is a library dedicated to enabling online analysis and Machine…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Scientific modeling provides mathematical abstractions of real-world systems and builds software as implementations of these mathematical abstractions. Ocean science is a multidisciplinary discipline developing scientific models and…