相关论文: Explainable Neural Inverse Kinematics for Obstacle…

Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…

With the progress of 3D human pose and shape estimation, state-of-the-art methods can either be robust to occlusions or obtain pixel-aligned accuracy in non-occlusion cases. However, they cannot obtain robustness and mesh-image alignment at…

Deep Neural Networks (DNNs) have revolutionized various fields by enabling task automation and reducing human error. However, their internal workings and decision-making processes remain obscure due to their black box nature. Consequently,…

Explaining machine learning (ML) models using eXplainable AI (XAI) techniques has become essential to make them more transparent and trustworthy. This is especially important in high-stakes domains like healthcare, where understanding model…

Last years have been characterized by an upsurge of opaque automatic decision support systems, such as Deep Neural Networks (DNNs). Although they have great generalization and prediction skills, their functioning does not allow obtaining…

Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…

Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…

Machine learning (ML) and Deep Learning (DL) methods are being adopted rapidly, especially in computer network security, such as fraud detection, network anomaly detection, intrusion detection, and much more. However, the lack of…

Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…

Analyzing vibration data using deep neural network algorithms is an effective way to detect damages in rotating machinery at an early stage. However, the black-box approach of these methods often does not provide a satisfactory solution…

The integration of unmanned aerial vehicles (UAVs) into cellular networks presents significant mobility management challenges, primarily due to frequent handovers caused by probabilistic line-of-sight conditions with multiple ground base…

This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve…

There has been a significant surge of interest recently around the concept of explainable artificial intelligence (XAI), where the goal is to produce an interpretation for a decision made by a machine learning algorithm. Of particular…

Nowadays, deep neural networks are widely used in a variety of fields that have a direct impact on society. Although those models typically show outstanding performance, they have been used for a long time as black boxes. To address this,…

Machine Learning (ML) is becoming increasingly popular in fluid dynamics. Powerful ML algorithms such as neural networks or ensemble methods are notoriously difficult to interpret. Here, we introduce the novel Shapley Additive Explanations…

Deep neural networks like PhaseNet show high accuracy in detecting microseismic events, but their black-box nature is a concern in critical applications. We apply Explainable Artificial Intelligence (XAI) techniques, such as…

A high-velocity paradigm shift towards Explainable Artificial Intelligence (XAI) has emerged in recent years. Highly complex Machine Learning (ML) models have flourished in many tasks of intelligence, and the questions have started to shift…

Action representation is an important yet often overlooked aspect in end-to-end robot learning with deep networks. Choosing one action space over another (e.g. target joint positions, or Cartesian end-effector poses) can result in…

Composites are amongst the most important materials manufactured today, as evidenced by their use in countless applications. In order to establish the suitability of composites in specific applications, finite element (FE) modelling, a…