相关论文: MagBotSim: Physics-Based Simulation and Reinforcem…
We propose DeepSim, a reinforcement learning environment build toolkit for ROS and Gazebo. It allows machine learning or reinforcement learning researchers to access the robotics domain and create complex and challenging custom tasks in ROS…
Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
A computer simulation has to be fast to be helpful, if it is employed to study the behavior of a multicomponent dynamic system. This paper discusses modeling concepts and algorithmic techniques useful for creating such fast simulations.…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This paper introduces a user-friendly MATLAB toolbox,…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Recent research has demonstrated the potential of reinforcement learning (RL) in enabling effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interests and collective benefits.…
This paper presents the practical employment of G-Programming tools to demonstrate, design, and implement traditional control algorithms upon magnetic levitation system. The complexity of controlling this type of fast dynamic and sensitive…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Learning Machines is developing a flexible, cross-industry, advanced analytics platform, targeted during stealth-stage at a limited number of specific vertical applications. In this paper, we aim to integrate a general machine system to…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable circumstances. With this regard, pushing is an essential motion…