相关论文: Basilisk and Docker for Reproducible GN&C Simulati…
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…
Kliko is a Docker-based container specification for running one or multiple related compute jobs. The key concepts of Kliko are the encapsulation of data processing software into a container and the formalization of the input, output and…
To effectively handle clustering task for large-scale datasets, we propose a novel scalable skeleton clustering algorithm, namely GBSK, which leverages the granular-ball technique to capture the underlying structure of data. By…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter. Thus, robots designed like this are fragile and fail outside of…
User simulation is a valuable methodology for evaluation in Information Retrieval (IR), enabling low-cost experimentation and counterfactual analysis. However, existing simulation frameworks are primarily code-centric libraries that require…
In modern cloud-based architectures, containers play a central role: they provide powerful isolation mechanisms such that developers can focus on the logic and dependencies of applications while system administrators can focus on deployment…
We introduce BayesSim, a framework for robotics simulations allowing a full Bayesian treatment for the parameters of the simulator. As simulators become more sophisticated and able to represent the dynamics more accurately, fundamental…
Deep learning has been postulated as a solution for numerous problems in different branches of science. Given the resource-intensive nature of these models, they often need to be executed on specialized hardware such graphical processing…
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…
Self-consistently modeling baryonic effects in survey-scale cosmological simulations has become increasingly important as the diversity, precision, and statistical reach of modern observations continue to improve. The advent of exascale…
The Galactica simulation database is a platform designed to assist computational astrophysicists with their open science approach based on FAIR (Findable, Accessible, Interoperable, Reusable) principles. It offers the means to publish their…
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objects. MOSAIC employs modularity at several levels: it…
Containers as the unit of application delivery are the 'next big thing' in the software development world. They enable developers to create an executable image containing an application bundled with all its dependencies which a user can run…
We describe an assembly of numerical tools to model the output data of the Planck satellite. These start with the generation of a CMB sky in a chosen cosmology, add in various foreground sources, convolve the sky signal with arbitrary, even…
The drive for reproducibility in the computational sciences has provoked discussion and effort across a broad range of perspectives: technological, legislative/policy, education, and publishing. Discussion on these topics is not new, but…
A computing solution combining the GNU Guix functional package manager with the Apptainer container system is presented. This approach provides fully declarative and reproducible software environments suitable for computational materials…
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-DOF robots such as manipulators,…
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To address this, we introduce BALTIC, a controlled benchmark…
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…