Publications related to Cyberbotics

Formal Foundations of Capture Tracking

Type systems are a device for verifying properties of programs without running them. Many programming languages used in the industry have always had a type system, while others were initially created without a type system and later adopted one, when the ad ...

EPFL2024

Modular segmentation, spatial analysis and visualization of volume electron microscopy datasets

Martin Weigert

Volume electron microscopy is the method of choice for the in situ interrogation of cellular ultrastructure at the nanometer scale, and with the increase in large raw image datasets generated, improving computational strategies for image segmentation and s ...

Nature Portfolio2024

Advancing Self-Supervised Deep Learning for 3D Scene Understanding

Seyed Mohammad Mahdi Johari

Recent advancements in deep learning have revolutionized 3D computer vision, enabling the extraction of intricate 3D information from 2D images and video sequences. This thesis explores the application of deep learning in three crucial challenges of 3D com ...

EPFL2024

Dynamic Linkers Are the Narrow Waist of Operating Systems

Adrien Ghosn, Charly Nicolas Lucien Castes

While software applications, programming languages, and hardware have changed, operating systems have not. Widely-used commodity operating systems are still modeled after the ones designed in the seventies. The accumulated burden of backward compatibility ...

Association for Computing Machinery2023

SiliFish: A desktop application to model swimming behavior in developing zebrafish (Danio rerio)

Yann Roussel

SiliFish is an open-source desktop application tomodel and study zebrafish swimming. Here, we explain how to define the general parameters of the model, define cell populations, place them within the spinal cord, and define their projections. We explain ho ...

Elsevier2023

Generalizing Bulk-Synchronous Parallel Processing for Data Science: From Data to Threads and Agent-Based Simulations

Zilu Tian

Agent-based simulations have been widely applied in many disciplines, by scientists and engineers alike. Scientists use agent-based simulations to tackle global problems, including alleviating poverty, reducing violence, and predicting the impact of pandem ...

EPFL2023

Type-Level Programming with Match Types

Martin Odersky, Olivier Eric Paul Blanvillain

Type-level programming is becoming more and more popular in the realm of functional programming. However, the combination of type-level programming and subtyping remains largely unexplored in practical programming languages. This paper presents match types ...

ASSOC COMPUTING MACHINERY2022

A case for DOT: Theoretical Foundations for Objects with Pattern Matching and GADT-Style Reasoning

Yichen Xu, Lionel Emile Vincent Parreaux, Aleksander Slawomir Boruch-Gruszecki

Many programming languages in the OO tradition now support pattern matching in some form. Historical examples include Scala and Ceylon, with the more recent additions of Java, Kotlin, TypeScript, and Flow. But pattern matching on generic class hierarchies ...

Assoc Computing Machinery2022

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Wei Wang, Emmanouil Angelidis

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

Scaling Language Features for Program Verification

Georg Stefan Schmid

Formal verification of real-world software systems remains challenging for a number of reasons, including lack of automation, friction in specifying properties, and limited support for the diverse programming paradigms used in industry. In this thesis we m ...

EPFL2022

Differentiable Physically Based Rendering: Algorithms, Systems and Applications

Merlin Eléazar Nimier-David

Physically based rendering methods can create photorealistic images by simulating the propagation and interaction of light in a virtual scene. Given a scene description including the shape of objects, participating media, material properties, etc., the sim ...

EPFL2022

New Capabilities of the FLUKA Multi-Purpose Code

Nikolaos Charitonidis, André Donadon Servelle, Philippe Jean Schoofs, Francesco Cerutti

FLUKA is a general purpose Monte Carlo code able to describe the transport and interaction of any particle and nucleus type in complex geometries over an energy range extending from thermal neutrons to ultrarelativistic hadron collisions. It has many diffe ...

FRONTIERS MEDIA SA2022

Enclosure: Language-Based Restriction of Untrusted Libraries

James Richard Larus, Mathias Josef Payer, Edouard Bugnion, Evangelos Marios Kogias, Adrien Ghosn

Programming languages and systems have failed to address the security implications of the increasingly frequent use of public libraries to construct modern software. Most languages provide tools and online repositories to publish, import, and use libraries ...

ACM2021

Trust as a Programming Primitive

Adrien Ghosn

Programming has changed; programming languages have not. Modern software embraced reusable software components, i.e., public libraries, and runs in the cloud, on machines that co-locate applications from various origins. This new programming paradigm leads ...

EPFL2021

Representing Monads with Capabilities

Martin Odersky, Aleksander Slawomir Boruch-Gruszecki, Jonathan Immanuel Brachthäuser

Programming with monads can be advantageous even in imperative languages with builtin support for side effects. However, in these languages composing monadic programs is different from composing side effecting imperative programs. This does not need to be ...

2021

Perceptual Quality of Point Clouds with application to Compression

Evangelos Alexiou

Modern information technologies and human-centric communication systems employ advanced content representations for richer portrayals of the real world. The newly adopted imaging modalities offer additional information cues and permit the depiction of real ...

EPFL2021

Path Replay Backpropagation: Differentiating Light Paths using Constant Memory and Linear Time

Wenzel Alban Jakob, Delio Aleardo Vicini, Sébastien Nicolas Speierer

Differentiable physically-based rendering has become an indispensable tool for solving inverse problems involving light. Most applications in this area jointly optimize a large set of scene parameters to minimize an objective function, in which case revers ...

ASSOC COMPUTING MACHINERY2021

Light Path Gradients for Forward and Inverse Rendering

Tizian Lucien Zeltner

Physically based rendering is a process for photorealistic digital image synthesis and one of the core problems in computer graphics. It involves simulating the light transport, i.e. the emission, propagation, and scattering of light through a virtual scen ...

EPFL2021

Monte Carlo Estimators for Differential Light Transport

Wenzel Alban Jakob, Tizian Lucien Zeltner, Sébastien Nicolas Speierer

Physically based differentiable rendering algorithms propagate derivatives through realistic light transport simulations and have applications in diverse areas including inverse reconstruction and machine learning. Recent progress has led to unbiased metho ...

ASSOC COMPUTING MACHINERY2021

Product of experts for robot learning from demonstration

Emmanuel Pignat

Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...

EPFL2021