IEEE Transactions on Robotics最新文献_第6页

High Resolution, Large Area Vision-Based Tactile Sensing Based on a Novel Piezoluminescent Skin 基于新型压电发光皮肤的高分辨率、大面积视觉触觉传感

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552327

Ruxiang Jiang;Lanhui Fu;Yanan Li;Hareesh Godaba

{"title":"High Resolution, Large Area Vision-Based Tactile Sensing Based on a Novel Piezoluminescent Skin","authors":"Ruxiang Jiang;Lanhui Fu;Yanan Li;Hareesh Godaba","doi":"10.1109/TRO.2025.3552327","DOIUrl":"10.1109/TRO.2025.3552327","url":null,"abstract":"The ability to precisely perceive external physical interactions would enable robots to interact effectively with the environment and humans. While vision-based tactile sensing has improved robotic grippers, it is challenging to realize high resolution vision-based tactile sensing in robot arms due to presence of curved surfaces, difficulty in uniform illumination, and large distance of sensing area from the cameras. In this article, we propose a novel piezoluminescent skin that transduces external applied pressures into changes in light intensity on the other side for viewing by a camera for pressure estimation. By engineering elastomer layers with specific optical properties and integrating a flexible electroluminescent panel as a light source, we develop a compact tactile sensing layer that resolves the layout issues in curved surfaces. We achieved multipoint pressure estimation over an expansive area of 502 cm<sup>2</sup> with high spatial resolution, a two-point discrimination distance of 3 mm horizontally and 5 mm vertically which is comparable to that of human fingers as well as a high localization accuracy (RMSE of 1.92 mm). These promising attributes make this tactile sensing technique suitable for use in robot arms and other applications requiring high resolution tactile information over a large area.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2477-2494"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CODEI: Resource-Efficient Task-Driven Codesign of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles 应用于自动驾驶汽车的移动机器人感知与决策的资源高效任务驱动协同设计

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552347

Dejan Milojevic;Gioele Zardini;Miriam Elser;Andrea Censi;Emilio Frazzoli

{"title":"CODEI: Resource-Efficient Task-Driven Codesign of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles","authors":"Dejan Milojevic;Gioele Zardini;Miriam Elser;Andrea Censi;Emilio Frazzoli","doi":"10.1109/TRO.2025.3552347","DOIUrl":"10.1109/TRO.2025.3552347","url":null,"abstract":"This article discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emphasize the interplay between perception and motion planning in decision-making by introducing the concept of occupancy queries to quantify the perception requirements for sampling-based motion planners. Sensor and algorithm performance are evaluated using false negative rate and false positive rate across various factors such as geometric relationships, object properties, sensor resolution, and environmental conditions. By integrating perception requirements with perception performance, an integer linear programming approach is proposed for efficient sensor and algorithm selection and placement. This forms the basis for a codesign optimization that includes the robot body, motion planner, perception pipeline, and computing unit. We refer to this framework for solving the codesign problem of mobile robots as CODEI, short for codesign of embodied intelligence. A case study on developing an autonomous vehicle for urban scenarios provides actionable information for designers, and shows that complex tasks escalate resource demands, with task performance affecting choices of the autonomy stack. The study demonstrates that resource prioritization influences sensor choice: cameras are preferred for cost-effective and lightweight designs, while lidar sensors are chosen for better energy and computational efficiency.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2727-2748"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps 飞溅导航：安全的实时机器人导航在高斯飞溅地图

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552348

Timothy Chen;Ola Shorinwa;Joseph Bruno;Aiden Swann;Javier Yu;Weijia Zeng;Keiko Nagami;Philip Dames;Mac Schwager

{"title":"Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps","authors":"Timothy Chen;Ola Shorinwa;Joseph Bruno;Aiden Swann;Javier Yu;Weijia Zeng;Keiko Nagami;Philip Dames;Mac Schwager","doi":"10.1109/TRO.2025.3552348","DOIUrl":"10.1109/TRO.2025.3552348","url":null,"abstract":"We present Splat-Nav, a real-time robot navigation pipeline for Gaussian splatting (GSplat) scenes, a powerful new 3-D scene representation. Splat-Nav consists of two components: first, Splat-Plan, a safe planning module, and second, Splat-Loc, a robust vision-based pose estimation module. Splat-Plan builds a safe-by-construction polytope corridor through the map based on mathematically rigorous collision constraints and then constructs a Bézier curve trajectory through this corridor. Splat-Loc provides real-time recursive state estimates given only an RGB feed from an on-board camera, leveraging the point-cloud representation inherent in GSplat scenes. Working together, these modules give robots the ability to recursively replan smooth and safe trajectories to goal locations. Goals can be specified with position coordinates, or with language commands by using a semantic GSplat. We demonstrate improved safety compared to point cloud-based methods in extensive simulation experiments. In a total of 126 hardware flights, we demonstrate equivalent safety and speed compared to motion capture and visual odometry, but without a manual frame alignment required by those methods. We show online replanning at more than 2 Hz and pose estimation at about 25 Hz, an order of magnitude faster than neural radiance field-based navigation methods, thereby enabling real-time navigation.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2765-2784"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Strategic Decision-Making in Multiagent Domains: A Weighted Constrained Potential Dynamic Game Approach 多智能体领域的战略决策：一种加权约束势动态博弈方法

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552325

Maulik Bhatt;Yixuan Jia;Negar Mehr

{"title":"Strategic Decision-Making in Multiagent Domains: A Weighted Constrained Potential Dynamic Game Approach","authors":"Maulik Bhatt;Yixuan Jia;Negar Mehr","doi":"10.1109/TRO.2025.3552325","DOIUrl":"10.1109/TRO.2025.3552325","url":null,"abstract":"In interactive multiagent settings, decision-making and planning are challenging mainly due to the agents' interconnected objectives. Dynamic game theory offers a formal framework for analyzing such intricacies. Yet, solving constrained dynamic games and determining the interaction outcome in the form of generalized Nash equilibria (GNE) pose computational challenges due to the need for solving constrained coupled optimal control problems. In this article, we address this challenge by proposing to leverage the special structure of many real-world multiagent interactions. More specifically, our key idea is to leverage constrained dynamic potential games, which are games for which GNE can be found by solving a single constrained optimal control problem associated with minimizing the potential function. We argue that constrained dynamic potential games can effectively facilitate interactive decision-making in many multiagent interactions. We will identify structures in realistic multiagent interactive scenarios that can be transformed into weighted constrained potential dynamic games (WCPDGs). We will show that the GNE of the resulting WCPDG can be obtained by solving a single constrained optimal control problem. We will demonstrate the effectiveness of the proposed method through various simulation studies and show that we achieve significant improvements in solve time compared to state-of-the-art game solvers. We further provide experimental validation of our proposed method in a navigation setup involving two quadrotors carrying a rigid object while avoiding collisions with two humans.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2749-2764"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CoverLib: Classifiers-Equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-Tuned Motion Planning CoverLib：基于迭代问题分布覆盖最大化的分类器装备经验库，用于域调谐运动规划

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552346

Hirokazu Ishida;Naoki Hiraoka;Kei Okada;Masayuki Inaba

{"title":"CoverLib: Classifiers-Equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-Tuned Motion Planning","authors":"Hirokazu Ishida;Naoki Hiraoka;Kei Okada;Masayuki Inaba","doi":"10.1109/TRO.2025.3552346","DOIUrl":"10.1109/TRO.2025.3552346","url":null,"abstract":"Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a principled approach for constructing and utilizing such a library. CoverLib iteratively adds an experience-classifier-pair to the library, where each classifier corresponds to an adaptable region of the experience within the problem space. This iterative process is an active procedure, as it selects the next experience based on its ability to effectively cover the uncovered region. During the query phase, these classifiers are utilized to select an experience that is expected to be adaptable for a given problem. Experimental results demonstrate that CoverLib effectively mitigates the tradeoff between plannability and speed observed in global (e.g., sampling-based) and local (e.g., optimization-based) methods. As a result, it achieves both fast planning and high success rates over the problem domain. Moreover, due to its adaptation-algorithm-agnostic nature, CoverLib seamlessly integrates with various adaptation methods, including nonlinear programming-based and sampling-based algorithms.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2911-2930"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling, Embedded Control, and Design of Soft Robots Using a Learned Condensed FEM Model 基于压缩有限元模型的软体机器人建模、嵌入式控制与设计

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552353

Tanguy Navez;Etienne Ménager;Paul Chaillou;Olivier Goury;Alexandre Kruszewski;Christian Duriez

{"title":"Modeling, Embedded Control, and Design of Soft Robots Using a Learned Condensed FEM Model","authors":"Tanguy Navez;Etienne Ménager;Paul Chaillou;Olivier Goury;Alexandre Kruszewski;Christian Duriez","doi":"10.1109/TRO.2025.3552353","DOIUrl":"10.1109/TRO.2025.3552353","url":null,"abstract":"The finite element method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this article, a learning-based approach based on condensation of the FEM model is detailed. The proposed method handles several kinds of actuators and contacts with the environment. We demonstrate that this compact model can be learned as a unified model across several designs and remains very efficient in terms of modeling since we can deduce the direct and inverse kinematics of the robot. Building upon the intuition introduced in (Ménager et al., 2023), the learned model is presented as a general framework for modeling, controlling, and designing soft manipulators. First, the method's adaptability and versatility are illustrated through optimization-based control problems involving positioning and manipulation tasks with mechanical contact-based coupling. Second, the low-memory consumption and the high prediction speed of the learned condensed model are leveraged for real-time embedding control without relying on costly online FEM simulation. Finally, the ability of the learned condensed FEM model to capture soft robot design variations and its differentiability are leveraged in calibration and design optimization applications.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2441-2459"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Safe Start Regions for Medical Steerable Needle Automation 医疗导向针自动化的安全启动区域

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552323

Janine Hoelscher;Inbar Fried;Spiros Tsalikis;Jason Akulian;Robert J. Webster;Ron Alterovitz

{"title":"Safe Start Regions for Medical Steerable Needle Automation","authors":"Janine Hoelscher;Inbar Fried;Spiros Tsalikis;Jason Akulian;Robert J. Webster;Ron Alterovitz","doi":"10.1109/TRO.2025.3552323","DOIUrl":"10.1109/TRO.2025.3552323","url":null,"abstract":"Steerable needles are minimally invasive devices that can enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. We introduce a new start pose robustness metric for steerable needle motion plans. A steerable needle deployment typically consists of a physician manually placing a steerable needle at a precomputed start pose on the surface of tissue and handing off control to a robot, which then autonomously steers the needle through the tissue to the target. The handoff between humans and robots is critical for procedure success, as even small deviations from a planned start pose change the steerable needle's reachable workspace. Our metric is based on a novel geometric method to efficiently compute how far the physician can deviate from the planned start pose in both position and orientation such that the steerable needle can still reach the target. We evaluate our metric through simulation in liver and lung scenarios. Our evaluation shows that our metric can be applied to plans computed by different steerable needle motion planners and that it can be used to efficiently select plans with large safe start regions.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2424-2440"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

AVOCADO: Adaptive Optimal Collision Avoidance Driven by Opinion 牛油果：由意见驱动的自适应最优避碰

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552350

Diego Martinez-Baselga;Eduardo Sebastián;Eduardo Montijano;Luis Riazuelo;Carlos Sagüés;Luis Montano

{"title":"AVOCADO: Adaptive Optimal Collision Avoidance Driven by Opinion","authors":"Diego Martinez-Baselga;Eduardo Sebastián;Eduardo Montijano;Luis Riazuelo;Carlos Sagüés;Luis Montano","doi":"10.1109/TRO.2025.3552350","DOIUrl":"10.1109/TRO.2025.3552350","url":null,"abstract":"We present AdaptiVe Optimal Collision Avoidance Driven by Opinion (AVOCADO), a novel navigation approach to address holonomic robot collision avoidance when the robot does not know how cooperative the other agents in the environment are. AVOCADO departs from a velocity obstacle's (VO) formulation akin to the optimal reciprocal collision avoidance method. However, instead of assuming reciprocity, it poses an adaptive control problem to adapt to the cooperation level of other robots and agents in real time. This is achieved through a novel nonlinear opinion dynamics design that relies solely on sensor observations. As a by-product, we leverage tools from the opinion dynamics formulation to naturally avoid the deadlocks in geometrically symmetric scenarios that typically suffer VO-based planners. Extensive numerical simulations show that AVOCADO surpasses existing motion planners in mixed cooperative/noncooperative navigation environments in terms of success rate, time to goal and computational time. In addition, we conduct multiple real experiments that verify that AVOCADO is able to avoid collisions in environments crowded with other robots and humans.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2495-2511"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10930712","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Compact 6D Suction Cup Model for Robotic Manipulation via Symmetry Reduction 一个紧凑的6D吸盘模型，通过对称减少机器人操作

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-14 DOI: 10.1109/TRO.2025.3551197

Alexander A. Oliva;Maarten J. Jongeneel;Alessandro Saccon

{"title":"A Compact 6D Suction Cup Model for Robotic Manipulation via Symmetry Reduction","authors":"Alexander A. Oliva;Maarten J. Jongeneel;Alessandro Saccon","doi":"10.1109/TRO.2025.3551197","DOIUrl":"10.1109/TRO.2025.3551197","url":null,"abstract":"Active suction cups are widely adopted in industrial and logistics automation. Despite that, validated dynamic models describing their 6D force/torque interaction with objects are rare. This work aims at filling this gap by showing that it is possible to employ a compact model for suction cups, providing good accuracy also for large deformations. Its potential use is for advanced manipulation, planning, and control. We model the interconnected object-suction cup system as a lumped 6D mass-spring-damper systems, employing a potential energy function on <inline-formula><tex-math>$text {SE}(3)$</tex-math></inline-formula>, parametrized by a <inline-formula><tex-math>$6times 6$</tex-math></inline-formula> stiffness matrix. By exploiting geometric symmetries of the suction cup, we reduce the parameter identification problem, from <inline-formula><tex-math>$6(6+1) / 2 = 21$</tex-math></inline-formula> to only <inline-formula><tex-math>$boldsymbol {5}$</tex-math></inline-formula> independent parameters, greatly simplifying the parameter identification procedure, that is otherwise ill-conditioned. Experimental validation is provided and data is shared openly to further stimulate research. As an indication of the achievable pose prediction in steady state, for an object of about <inline-formula><tex-math>$boldsymbol {1.75}$</tex-math></inline-formula> kg, we obtain a pose error in the order of <inline-formula><tex-math>$boldsymbol {5}$</tex-math></inline-formula> mm and <inline-formula><tex-math>$boldsymbol {3}$</tex-math></inline-formula> deg, with a gripper inclination of <inline-formula><tex-math>$boldsymbol {60}$</tex-math></inline-formula> deg.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2285-2300"},"PeriodicalIF":9.4,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143631372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

RADIUM: Predicting and Repairing End-to-End Robot Failures Using Gradient-Accelerated Sampling 镭：使用梯度加速采样预测和修复端到端机器人故障

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-14 DOI: 10.1109/TRO.2025.3551198

Charles Dawson;Anjali Parashar;Chuchu Fan

{"title":"RADIUM: Predicting and Repairing End-to-End Robot Failures Using Gradient-Accelerated Sampling","authors":"Charles Dawson;Anjali Parashar;Chuchu Fan","doi":"10.1109/TRO.2025.3551198","DOIUrl":"10.1109/TRO.2025.3551198","url":null,"abstract":"Before deploying autonomous systems in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a simulation-based framework for 1) predicting ways in which an autonomous system is likely to fail and 2) automatically adjusting the system's design and control policy to preemptively mitigate those failures. Existing tools for failure prediction struggle to search over high-dimensional environmental parameters, cannot efficiently handle end-to-end testing for systems with vision in the loop, and provide little guidance on how to mitigate failures once they are discovered. We approach this problem through the lens of approximate Bayesian inference, using differentiable simulation and rendering for efficient failure case prediction and repair (and providing a gradient-free version of our algorithm for cases where a differentiable simulator is not available). We include a theoretical and empirical evaluation of the tradeoffs between gradient-based and gradient-free methods, applying our approach to a range of robotics and control problems, including optimizing search patterns for robot swarms, UAV formation control, and robust network control. Compared to optimization-based falsification methods, our method predicts a more diverse, representative set of failure modes, and we find that our use of differentiable simulation yields solutions that have up to 10x lower cost and requires up to 2x fewer iterations to converge relative to gradient-free techniques. In hardware experiments, we find that repairing control policies using our method leads to a 5x robustness improvement.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2268-2284"},"PeriodicalIF":9.4,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143631489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0