In this paper, we propose NeRD (Neural Robot Dynamics), learned robot-specific dynamics models for predicting future states for articulated rigid bodies under contact constraints. NeRD uniquely ...

Abstract: This paper presents a nonlinear predictive control approach for solving the trajectory control and collision avoidance frameworks of autonomous surface vehicles (ASVs). The model is based on ...

Abstract: Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly ...