相关论文: Autonomous Elemental Characterization Enabled by a…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
High-quality visualizations are an essential part of robotics research, enabling clear communication of results through figures, animations, and demonstration videos. While Blender is a powerful and freely available 3D graphics platform,…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Self-driving laboratories based on large language models promise to transform scientific discovery through general experimental automation. However, realizing this vision on precision platforms remains challenging, requiring deterministic…
Development of computational tools to analyze and assess the building capacities has had a major impact in civil engineering. The interaction with the structural software packages is becoming easier and the modeling tools are becoming…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark…
ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and data handoff between lab equipment,…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
Label scarcity has been a long-standing issue for biomedical image segmentation, due to high annotation costs and professional requirements. Recently, active learning (AL) strategies strive to reduce annotation costs by querying a small…
Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…
In recent years, many learning based approaches have been studied to realize robotic manipulation and assembly tasks, often including vision and force/tactile feedback. However, it remains frequently unclear what is the baseline…
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing annotation tools, however, are often…
The advancement of UAV technology has enabled efficient, non-contact structural health monitoring. Combined with photogrammetry, UAVs can capture high-resolution scans and reconstruct detailed 3D models of infrastructure. However, a key…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Robots are being applied in a vast range of fields, leading researchers and practitioners to write tasks more complex than in the past. The robot software complexity increases the difficulty of engineering the robot's software components…