Incorporating Human Expertise in Robot Motion Learning and Synthesis

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Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Many empirical studies have provided evidence for the emergence of algorithmic mechanisms (abilities) in the learning of language models, that lead to qualitative improvements in the model capabilities. Yet, a theoretical characterization of how such mecha ...

This paper investigates the fundamental regression task of learning k neurons (a.k.a. teachers) from Gaussian input, using two-layer ReLU neural networks with width m (a.k.a. students) and m, k = O(1), trained via gradient descent under proper initializati ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

Facial paralysis is a highly burdening condition, resulting in a patient's inability to move his musculature on one or both sides of the mouth. The restoration of facial movement is crucial for enhancing the overall patients' quality of life. The use of DE ...

Reinforcement feedback can improve motor learning, but the underlying brain mechanisms remain underexplored. In particular, the causal contribution of specific patterns of oscillatory activity within the human striatum is unknown. To address this question, ...

Sign Language conveys information through multiple channels composed of manual (handshape, hand movement) and non-manual (facial expression, mouthing, body posture) components. Sign language assessment involves giving granular feedback to a learner, in ter ...

Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

The Internet of Things (IoT) consists of physical objects and devices embedded with network connectivity, software, and sensors to collect and transmit data. The development of the Internet of Things (IoT) has led to various security and privacy issues, in ...

In this thesis, we study two closely related directions: robustness and generalization in modern deep learning. Deep learning models based on empirical risk minimization are known to be often non-robust to small, worst-case perturbations known as adversari ...

Real-time bioaerosol monitoring is improving the quality of life for people affected by allergies, but it often relies on deep learning models which pose challenges for widespread adoption. These models are typically trained in a supervised fashion and req ...

Neurons in the human amygdala and hippocampus are classically thought to encode a person’s identity invariant to visual features. However, it remains largely unknown how visual information from higher visual cortical areas is translated into such a semanti ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

FDTD/FEM simulations, strengthened by machine learning, achieve 95.44% optical absorption efficiency in TiO 2 /TiN plasmonic nanocavities for solar energy harvesting. ...

In the past few years, Machine Learning (ML) techniques have ushered in a paradigm shift, allowing the harnessing of ever more abundant sources of data to automate complex tasks. The technical workhorse behind these important breakthroughs arguably lies in ...

Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for adaptable learnin ...

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

Blindness remains one of the most impairing disabilities worldwide, profoundly affecting independence, social participation, and quality of life. While assistive technologies offer partial support, they do not restore visual function. Retinal prostheses re ...

Incorporating Human Expertise in Robot Motion Learning and Synthesis

Chattez avec Graph Search

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

A phase transition between positional and semantic learning in a solvable model of dot-product attention

How Gradient Descent Balances Features: A Dynamical Analysis For Two-Layer Neural Networks

Biohybrid Superorganisms—On the Design of a Robotic System for Thermal Interactions With Honeybee Colonies

DEMO: Dielectric elastomer actuators (DEAs) for the restoration of facial movements

Non-invasive stimulation of the human striatum disrupts reinforcement learning of motor skills

Posterior-Based Analysis of Spatio-Temporal Features for Sign Language Assessment

Towards edible robots and robotic food

Augmenting locomotor perception by remapping tactile foot sensation to the back

GraphFedAI framework for DDoS attack detection in IoT systems using federated learning and graph based artificial intelligence

Understanding generalization and robustness in modern deep learning

Self-supervised and few-shot learning for robust bioaerosol monitoring

Feature-based encoding of face identity by single neurons in the human amygdala and hippocampus

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Machine-learning-empowered FDTD/FEM simulations for predictive solar energy absorption in plasmonic metamaterial nanocavity arrays

Topics in statistical physics of high-dimensional machine learning

Integrating Physics and Topology in Neural Networks for Learning Rigid Body Dynamics

3D printed large amplitude torsional microactuators powered by ultrasound

Using Virtual Reality to Improve Prosthetic Vision in Daily Life