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pro vyhledávání: '"van Wyk A"'
We introduce partial group algebras with relations in a purely algebraic framework. Given a group and a set of relations, we define an algebraic partial action and prove that the resulting partial skew group ring is isomorphic to the associated parti
Externí odkaz:
http://arxiv.org/abs/2412.15951
One of the most important yet challenging skills for a robot is the task of dexterous grasping of a diverse range of objects. Much of the prior work is limited by the speed, dexterity, or reliance on depth maps. In this paper, we introduce DextrAH-RG
Externí odkaz:
http://arxiv.org/abs/2412.01791
Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp trajectories from
Externí odkaz:
http://arxiv.org/abs/2411.14400
Autor:
Singh, Ritvik, Liu, Jingzhou, Van Wyk, Karl, Chao, Yu-Wei, Lafleche, Jean-Francois, Shkurti, Florian, Ratliff, Nathan, Handa, Ankur
Vision-based object detectors are a crucial basis for robotics applications as they provide valuable information about object localisation in the environment. These need to ensure high reliability in different lighting conditions, occlusions, and vis
Externí odkaz:
http://arxiv.org/abs/2410.21153
Autor:
Jenniskens, Peter, Estrada, Paul R., Pilorz, Stuart, Gural, Peter S., Samuels, Dave, Rau, Steve, Abbott, Timothy M. C., Albers, Jim, Austin, Scott, Avner, Dan, Baggaley, Jack W., Beck, Tim, Blomquist, Solvay, Boyukata, Mustafa, Breukers, Martin, Cooney, Walt, Cooper, Tim, De Cicco, Marcelo, Devillepoix, Hadrien, Egland, Eric, Fahl, Elize, Gialluca, Megan, Grigsby, Bryant, Hanke, Toni, Harris, Barbara, Heathcote, Steve, Hemmelgarn, Samantha, Howell, Andy, Jehin, Emmanuel, Johannink, Carl, Juneau, Luke, Kisvarsanyi, Erika, Mey, Philip, Moskovitz, Nick, Odeh, Mohammad, Rachford, Brian, Rollinson, David, Scott, James M., Towner, Martin C., Unsalan, Ozan, van Wyk, Rynault, Wood, Jeff, Wray, James D., Pavao, C., Lauretta, Dante S.
Publikováno v:
Icarus, 2024
In the late stages of accretion leading up to the formation of planetesimals, particles grew to pebbles the size of 1-mm to tens of cm. That is the same size range that dominates the present-day comet mass loss. Meteoroids that size cause visible met
Externí odkaz:
http://arxiv.org/abs/2408.11945
Autor:
Tang, Bingjie, Akinola, Iretiayo, Xu, Jie, Wen, Bowen, Handa, Ankur, Van Wyk, Karl, Fox, Dieter, Sukhatme, Gaurav S., Ramos, Fabio, Narang, Yashraj
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such work, we pres
Externí odkaz:
http://arxiv.org/abs/2407.08028
Autor:
Lum, Tyler Ga Wei, Matak, Martin, Makoviychuk, Viktor, Handa, Ankur, Allshire, Arthur, Hermans, Tucker, Ratliff, Nathan D., Van Wyk, Karl
A pivotal challenge in robotics is achieving fast, safe, and robust dexterous grasping across a diverse range of objects, an important goal within industrial applications. However, existing methods often have very limited speed, dexterity, and genera
Externí odkaz:
http://arxiv.org/abs/2407.02274
The Adam optimization method has achieved remarkable success in addressing contemporary challenges in stochastic optimization. This method falls within the realm of adaptive sub-gradient techniques, yet the underlying geometric principles guiding its
Externí odkaz:
http://arxiv.org/abs/2405.16255
Autor:
Van Wyk, Karl, Handa, Ankur, Makoviychuk, Viktor, Guo, Yijie, Allshire, Arthur, Ratliff, Nathan D.
Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have the burden of deciphering these complicated interactions over massive a
Externí odkaz:
http://arxiv.org/abs/2405.02250
A subalgebra of the full matrix algebra Mn(K), K a field, satisfying the identity [x1, y1][x2, y2]...[xq, yq] = 0 is called a Dq subalgebra of Mn(K). In the paper we deal with the structure, conjugation and isomorphism problems of maximal Dq subalgeb
Externí odkaz:
http://arxiv.org/abs/2403.19557