Publications related to Investigating neural resource allocation in the sensorimotor control of extra limbs

Hitting with Different Joints of a Robotic Manipulator

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Passive Obstacle Aware Control to Follow Desired Velocity

Aude Billard, Lukas Huber

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

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 ...

Piscataway2024

Deep Learning Theory Through the Lens of Diagonal Linear Networks

Scott William Pesme

In this PhD manuscript, we explore optimisation phenomena which occur in complex neural networks through the lens of

2

-layer diagonal linear networks. This rudimentary architecture, which consists of a two layer feedforward linear network with a diagonal ...

EPFL2024

Generalization of Scaled Deep ResNets in the Mean-Field Regime

Volkan Cevher, Grigorios Chrysos, Fanghui Liu

Despite the widespread empirical success of ResNet, the generalization properties of deep ResNet are rarely explored beyond the lazy training regime. In this work, we investigate scaled ResNet in the limit of infinitely deep and wide neural networks, of wh ...

2024

Reduced Training Data for Laser Ultrasound Signal Interpretation by Neural Networks

Romain Christophe Rémy Fleury, Janez Rus

The performance of machine learning algorithms is conditioned by the availability of training datasets, which is especially true for the field of nondestructive evaluation. Here we propose one reconfigurable specimen instead of numerous reference specimens ...

2024

M2SKD: Multi-to-Single Knowledge Distillation of Real-Time Epileptic Seizure Detection for Low-Power Wearable Systems

David Atienza Alonso, Amir Aminifar, Tomas Teijeiro Campo, Alireza Amirshahi, Farnaz Forooghifar, Saleh Baghersalimi

Integrating low-power wearable systems into routine health monitoring is an ongoing challenge. Recent advances in the computation capabilities of wearables make it possible to target complex scenarios by exploiting multiple biosignals and using high-perfor ...

2024

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurement ...

2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

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Hitting with Different Joints of a Robotic Manipulator

Passive Obstacle Aware Control to Follow Desired Velocity

Additively manufactured stretchable zipping electrostatic actuators

Online Multicontact Receding Horizon Planning via Value Function Approximation

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Deep Learning Theory Through the Lens of Diagonal Linear Networks

Generalization of Scaled Deep ResNets in the Mean-Field Regime

Reduced Training Data for Laser Ultrasound Signal Interpretation by Neural Networks

M2SKD: Multi-to-Single Knowledge Distillation of Real-Time Epileptic Seizure Detection for Low-Power Wearable Systems

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Generalization of Scaled Deep ResNets in the Mean-Field Regime

Hitting with Different Joints of a Robotic Manipulator

Passive Obstacle Aware Control to Follow Desired Velocity

Online Multicontact Receding Horizon Planning via Value Function Approximation

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Additively manufactured stretchable zipping electrostatic actuators

Deep Learning Theory Through the Lens of Diagonal Linear Networks

M2SKD: Multi-to-Single Knowledge Distillation of Real-Time Epileptic Seizure Detection for Low-Power Wearable Systems

Reduced Training Data for Laser Ultrasound Signal Interpretation by Neural Networks

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots