4 papers
RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects
Tim Missal, Lucas Domingues, Berk Guler +3
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity o…
IF-D: A High-Frequency, General-Purpose Inertial Foundation Dataset for Self-Supervised Learning
Patrick Ferreira, Paula Costa
We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichan…
Learning To Explore With Predictive World Model Via Self-Supervised Learning
Alana Santana, Paula P. Costa, Esther L. Colombini
Autonomous artificial agents must be able to learn behaviors in complex environments without humans to design tasks and rewards. Designing these functions for each environment is n…
InstructRobot: A Model-Free Framework for Mapping Natural Language Instructions into Robot Motion
Iury Cleveston, Alana C. Santana, Paula D. P. Costa +3
The ability to communicate with robots using natural language is a significant step forward in human-robot interaction. However, accurately translating verbal commands into physica…