相关论文: CENIC: Convex Error-controlled Numerical Integrati…
In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…
Sustaining high fidelity and high throughput of perception tasks over vision sensor streams on edge devices remains a formidable challenge, especially given the continuing increase in image sizes (e.g., generated by 4K cameras) and…
This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include…
We present SENC, a novel self-supervised neural cloth simulator that addresses the challenge of cloth self-collision. This problem has remained unresolved due to the gap in simulation setup between recent collision detection and response…
Classical Proportional-Integral-Derivative (PID) control has been widely successful across various industrial systems such as chemical processes, robotics, and power systems. However, as these systems evolved, the increase in the nonlinear…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still unable to solve MICPs for control problems quickly enough for…
Simulations of the dynamic deformations of metal samples require elastic-plastic constitutive updates of the material behavior to be performed over a small time step between updates, as dictated by the Courant condition. Depending on the…
By leveraging the blur-noise trade-off, imaging with non-uniform exposures largely extends the image acquisition flexibility in harsh environments. However, the limitation of conventional cameras in perceiving intra-frame dynamic…
To harness the potential of advanced computing technologies, efficient (real time) analysis of large amounts of data is as essential as are front-line simulations. In order to optimise this process, experts need to be supported by…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as a filtering criterion that instantaneously assesses the…
This paper presents the Relaxed Continuous-Time Actor-critic (RCTAC) algorithm, a method for finding the nearly optimal policy for nonlinear continuous-time (CT) systems with known dynamics and infinite horizon, such as the path-tracking…
We report SInC (SNV, Indel and CNV) simulator and read generator, an open-source tool capable of simulating biological variants taking into account a platform-specific error model. SInC is capable of simulating and generating single- and…