Robot skills learning with Riemannian manifolds: Leveraging geometry-awareness in robot learning, optimization and control

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Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Josephine Anna Eleanor Hughes

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

Mary Ann Liebert, Inc2024

FENNECS: a novel particle-in-cell code for simulating the formation of magnetized non-neutral plasmas trapped by electrodes of complex geometries

Stefano Alberti, Jean-Philippe Hogge, Joaquim Loizu Cisquella, Jérémy Genoud, Francesco Romano, Guillaume Michel Le Bars

This paper presents the new 2D electrostatic particle -in -cell code FENNECS developed to study the formation of magnetized non -neutral plasmas in geometries with azimuthal symmetry. This code has been developed in the domain of gyrotron electron gun desi ...

2024

Unveiling the complexity of learning and decision-making

Wei-Hsiang Lin

Reinforcement learning (RL) is crucial for learning to adapt to new environments. In RL, the prediction error is an important component that compares the expected and actual rewards. Dopamine plays a critical role in encoding these prediction errors. In my ...

EPFL2024

How to support students to develop coaching and peer teaching skills

Siara Ruth Isaac, Joelyn de Lima

Students learn more when they are actively engaged in the learning process. While hands-on activities, labs and projects are moments when students are active, the learning benefits can be amplified with coaching strategies. This activity will enable studen ...

EPFL2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Social Opinion Formation and Decision Making Under Communication Trends

Ali H. Sayed, Virginia Bordignon, Mert Kayaalp

This work studies the learning process over social networks under partial and random information sharing. In traditional social learning models, agents exchange full belief information with each other while trying to infer the true state of nature. We stud ...

Ieee-Inst Electrical Electronics Engineers Inc2024

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

Josephine Anna Eleanor Hughes, Francesco Stella

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

From low-rank retractions to dynamical low-rank approximation and back

Daniel Kressner, Axel Elie Joseph Séguin, Gianluca Ceruti

In algorithms for solving optimization problems constrained to a smooth manifold, retractions are a well-established tool to ensure that the iterates stay on the manifold. More recently, it has been demonstrated that retractions are a useful concept for ot ...

Springer2024

Evaluating the Impact of Learner Control and Interactivity in Conversational Tutoring Systems for Persuasive Writing

Tanja Christina Käser Jacober, Thiemo Wambsganss

Conversational tutoring systems (CTSs) offer a promising avenue for individualized learning support, especially in domains like persuasive writing. Although these systems have the potential to enhance the learning process, the specific role of learner cont ...

2024

Soft robotics for farm to fork: applications in agriculture & farming

Josephine Anna Eleanor Hughes, Kai Christian Junge

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

Iop Publishing Ltd2024

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Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Josephine Anna Eleanor Hughes

Mary Ann Liebert, Inc2024

FENNECS: a novel particle-in-cell code for simulating the formation of magnetized non-neutral plasmas trapped by electrodes of complex geometries

Stefano Alberti, Jean-Philippe Hogge, Joaquim Loizu Cisquella, Jérémy Genoud, Francesco Romano, Guillaume Michel Le Bars

2024