相关论文: Multifunctional physical reservoir computing in so…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework.…

The paradigm of reservoir computing exploits the nonlinear dynamics of a physical reservoir to perform complex time-series processing tasks such as speech recognition and forecasting. Unlike other machine-learning approaches, reservoir…

Physically intelligent micro-robotic systems exploit information embedded in micro-robots, their colloidal cargo, and their milieu to interact, assemble and form functional structures. Nonlinear anisotropic fluids like nematic liquid…

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely…

Measurements acquired from distributed physical systems are often sparse and noisy. Therefore, signal processing and system identification tools are required to mitigate noise effects and reconstruct unobserved dynamics from limited sensor…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Attitude control is a fundamental aspect of spacecraft operations. Model Predictive Control (MPC) has emerged as a powerful strategy for these tasks, relying on accurate models of the system dynamics to optimize control actions over a…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Reservoir computing is a machine learning paradigm that uses a structure called a reservoir, which has nonlinearities and short-term memory. In recent years, reservoir computing has expanded to new functions such as the autonomous…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accurate models. However, prediction with first-principles (FP)…

In this review, we describe the singular success of attractor neural network models in describing how the brain maintains persistent activity states for working memory, error-corrects, and integrates noisy cues. We consider the mechanisms…

The rising computational and energy demands of artificial intelligence systems urge the exploration of alternative software and hardware solutions that exploit physical effects for computation. According to machine learning theory, a neural…

Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Dense suspensions of particles dispersed in liquids are central to industrial and geophysical processes and serve as model systems for out-of-equilibrium soft matter. At high particle concentrations, they exhibit stress-dependent rheology,…

Multifunctional neural networks are capable of performing more than one task without changing any network connections. In this paper we explore the performance of a continuous-time, leaky-integrator, and next-generation `reservoir computer'…

Large and diverse datasets have been the cornerstones of many impressive advancements in artificial intelligence. Intelligent creatures, however, learn by interacting with the environment, which changes the input sensory signals and the…