Online learning of the body schema

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The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

We present a new algorithm for imitation learning in infinite horizon linear MDPs dubbed ILARL which greatly improves the bound on the number of trajectories that the learner needs to sample from the environment. In particular, we re- move exploration assu ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Computer simulations are often used as support material for science education, as they can engage students through inquiry-based learning, promote their active interaction in the experimentation phase, and help them visualize abstract concepts. For instanc ...

Zoning reform is a crucial tool for cities to adapt to contemporary challenges. However, its implementation remains challenging. Property owners, with a vested interest in the value of their neighborhoods, are sensitive to local developments and the potent ...

The aircraft assembly system is highly complex involving different stakeholders from multiple domains. The design of such a system requires comprehensive consideration of various industrial scenarios aiming to optimize key performance indicators. Tradition ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

Low-level light detection with high spatial and timing accuracy is a growing area of interest by virtue of applications such as light detection and ranging (LiDAR), biomedical imaging, time-resolved Raman spectroscopy, and quantum applications. Single-phot ...

Context. Obtaining reliable distance estimates to gas clouds within the Milky Way is challenging in the absence of certain tracers. The kinematic distance approach has been used as an alternative, and it is derived from the assumption of circular trajector ...

Reinforcement learning (RL) has shown promising results for real-time control systems, including the domain of plasma magnetic control. However, there are still significant drawbacks compared to traditional feedback control approaches for magnetic confinem ...

Anthropogenic modification of natural landscapes to urban environments impacts land-atmosphere interactions in the boundary layer. Ample research has demonstrated the effect of such landscape transitions on development of the urban heat island (UHI), but c ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

Simulation is a powerful approach that plays a significant role in science and technology. Computational models that simulate learner interactions and data hold great promise for educational technology as well. Amongst others, simulated learners can be use ...

Machine learning is often cited as a new paradigm in control theory, but is also often viewed as empirical and less intuitive for students than classical model-based methods. This is particularly the case for reinforcement learning, an approach that does n ...

We generalize the bulk-synchronous parallel (BSP) processing model to make it better support agent-based simulations. Such simulations frequently exhibit hierarchical structure in their communication patterns which can be exploited to improve performance. ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

To bring educational robots to classrooms, we need to consider teachers' self-efficacy and challenges in managing a robot-mediated classroom, and how to support them in overcoming these challenges. Orchestration tools are designed to support teachers by pr ...

Online learning of the body schema

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Experimental assessment, design, and control of compliance in dexterous robotic hands

A data-efficient and general-purpose hand–eye calibration method for robotic systems using next best view

Imitation Learning in Discounted Linear MDPs without exploration assumptions

Online Multicontact Receding Horizon Planning via Value Function Approximation

Teacher-Mediated and Student-Led Interaction with a Physics Simulation: Effects on the Learning Experience

Spatial Modeling for Building Design Evaluation: from Visual Landscape Quality Assessment to Devaluation Risk Estimation

An aircraft assembly process formalism and verification method based on semantic modeling and MBSE

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Rearranging Deformable Linear Objects for Implicit Goals with Self-Supervised Planning and Control

Advanced Silicon and SWIR Single-Photon Avalanche Diodes: Design, Simulation, and Characterization

Testing kinematic distances under a realistic Galactic potential Investigating systematic errors in the kinematic distance method arising from a non-axisymmetric potential

Towards practical reinforcement learning for tokamak magnetic control

Urban boundary-layer flows in complex terrain: Dynamic interactions during a hot and dry summer season in Phoenix, Arizona

Implicit Distance Functions: Learning and Applications in Robotics

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Simulated Learners in Educational Technology: A Systematic Literature Review and a Turing-like Test

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Generalizing Bulk-Synchronous Parallel Processing for Data Science: From Data to Threads and Agent-Based Simulations

Self-Correcting Quadratic Programming-Based Robot Control

Supporting Teachers' Orchestration in Robot-mediated Classrooms