By encoding mathematical statements into numbers, mathematician Kurt Gödel used ordinary arithmetic to check whether a ...

Abstract: Deep Reinforcement Learning (DRL) has been successfully applied to learn policies for safety-critical systems with unknown model dynamics in simulation. DRL controllers though optimal in ...

Abstract: An essential need for many model-based robot control algorithms is the ability to quickly and accurately compute partial derivatives of the equations of motion. State of the art approaches ...

We propose a task-space admittance controller for dual-arm robotic systems using conformal geometric algebra. The controller is a reinterpretation of a previous work using dual quaternion algebra. By ...