Francis wyffels

Generalizing Manipulation Skills with a Local Coding Agent

Raman Talwar, Elias Nijs, Andreas Verleysen, Francis wyffels

Today, progress in open-weight language models enables systems capable of writing, executing and debugging code while still running on a single workstation. Most language-driven robots give the model a fixed action interface or a trained policy. Generalizing to a new task therefore …

Designing Teacher-Centred Dashboards for Computational Thinking: Insights from Upper Primary and Lower Secondary Education

Willem Lapage, Laïs Crabbé, Tom Neutens, Francis wyffels et autres

The integration of computational thinking into compulsory education has been accompanied by the development of digital tools, such as programming environments. These tools are often accompanied by teacher dashboards to support instruction within the classroom. However, the effectiveness of dashboards is usually …

nl, be (code pays fourni par la source)

Stability-Driven CPG Design for More Effective Quality-Diversity in Evolutionary Robotics

Matthias Pex, Dries Marzougui, Francis wyffels

Evolutionary robotics commonly employs quality-diversity algorithms to discover diverse, high-performing behaviours. Meanwhile, central pattern generators provide a compact neural dynamical model for robotic locomotion control. Their differential-equation-based formulation induces smooth, rhythmic actions, while also reducing the dimensionality of the search space. However, …

be (code pays fourni par la source)

Decentralized neural dynamics and sensory constraints shape brittle star locomotion

Dries Marzougui, Dominique Adriaens, Francis wyffels

Brittle stars move with remarkable whole-body coordination despite lacking a central brain. With five identical arms radiating from a central disc, they predominantly adopt a bilaterally symmetrical rowing gait: one arm leads, two neighbouring arms row in synchrony and the remaining arms …

be (code pays fourni par la source)

Supplementary Materials from Decentralized neural dynamics and sensory constraints shape brittle star locomotion

Dries Marzougui, Dominique Adriaens, Francis wyffels

supplementary.pdf

Supplementary material from "Decentralized neural dynamics and sensory constraints shape brittle star locomotion"

Dries Marzougui, Dominique Adriaens, Francis wyffels

Brittle stars move with remarkable whole-body coordination despite lacking a central brain. With five identical arms radiating from a central disk, they predominantly adopt a bilaterally symmetrical rowing gait: one arm leads, two neighbouring arms row in synchrony and the remaining arms …

Supplementary Materials from Decentralized neural dynamics and sensory constraints shape brittle star locomotion

Dries Marzougui, Dominique Adriaens, Francis wyffels

supplementary.pdf

ForEdgeClim v1.0: a 3D process-based microclimate model incorporating vertical and lateral radiative and thermal fluxes to simulate forest edge-to-core transitions

Emma Van de Walle, Félicien Meunier, Steven J. De Hertog, Louise Terryn et autres

Forest microclimates play a fundamental role in regulating biodiversity, ecosystem functioning, and forest resilience to climate change. However, most existing microclimate models focus on vertical processes and neglect lateral energy exchanges, limiting their ability to represent forest edge effects. Due to ongoing …

be (code pays fourni par la source)

On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning

Thomas Lips, Marco Moletta, Michael C. Welle, Danica Kragic et autres

RGB-based imitation learning requires many demonstrations to generalize to unseen objects or scenes, motivating research into intermediate representations to improve generalization for robotic manipulation. Visual foundation models enable one-shot extraction of keypoints to provide such representation. However, it remains unclear how to …

On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning

Thomas Lips, Marco Moletta, Michael C. Welle, Danica Kragic et autres

RGB-based imitation learning requires many demonstrations to generalize to unseen objects or scenes, motivating research into intermediate representations to improve generalization for robotic manipulation. Visual foundation models enable one-shot extraction of keypoints to provide such representation. However, it remains unclear how to …

Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion

Remko Proesmans, Thomas Lips, Francis wyffels

Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in objects, can provide invaluable state information and enable efficient …

Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion

Remko Proesmans, Thomas Lips, Francis wyffels

Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in objects, can provide invaluable state information and enable efficient …