相关论文: Evaluating Robot Program Performance with Power Co…
Rapid adoption of machine learning (ML) technologies has led to a surge in power consumption across diverse systems, from tiny IoT devices to massive datacenter clusters. Benchmarking the energy efficiency of these systems is crucial for…
Programming industrial robots is not very intuitive, and the programmer has to be a domain expert for e.g. welding and programming to know how the task is optimally executed. For SMEs such employees are not affordable, nor cost-effective.…
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…
Increasingly large datasets of robot actions and sensory observations are being collected to train ever-larger neural networks. These datasets are collected based on tasks and while these tasks may be distinct in their descriptions, many…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
We consider distributed systems of identical autonomous computational entities, called robots, moving and operating in the plane in synchronous Look-Compute-Move (LCM) cycles. The algorithmic capabilities of these systems have been…
High Performance Distributed Computing is essential to boost scientific progress in many areas of science and to efficiently deploy a number of complex scientific applications. These applications have different characteristics that require…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
Estimating the execution time of software components is often mandatory when evaluating the non-functional properties of software-intensive systems. This particularly holds for real-time embedded systems, e.g., in the context of industrial…
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…
Robustly estimating energy consumption in High-Performance Computing (HPC) is essential for assessing the energy footprint of modern workloads, particularly in fields such as Artificial Intelligence (AI) research, development, and…
Energy efficiency is one of the major concern in designing advanced computing infrastructures. From single nodes to large-scale systems (data centers), monitoring the energy consumption of the computing system when applications run is a…
The performance of imitation learning policies often hinges on the datasets with which they are trained. Consequently, investment in data collection for robotics has grown across both industrial and academic labs. However, despite the…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…
We are motivated by the problem of comparing the complexity of one robotic task relative to another. To this end, we define a notion of reduction that formalizes the following intuition: Task 1 reduces to Task 2 if we can efficiently…
To develop software with optimal performance, even small performance changes need to be identified. Identifying performance changes is challenging since the performance of software is influenced by non-deterministic factors. Therefore, not…
We study the effectiveness of metrics for Multi-Robot Motion-Planning (MRMP) when using RRT-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate…
Users develop mental models of robots to conceptualize what kind of interactions they can have with those robots. The conceptualizations are often formed before interactions with the robot and are based only on observing the robot's…
Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…
Energy consumption is a growing concern in several fields, from mobile devices to large data centers. Developers need detailed data on the energy consumption of their software to mitigate consumption issues. Previous approaches have a…