Related papers: Articulated arm and special multi-flags (corrected…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

Spiral arms that emerge from the ends of a galactic bar are important in interpreting observations of our and external galaxies. It is therefore important to understand the physical mechanism that causes them. We find that these spiral arms…

We develop a formalism that allows us to write actions for multiple D-branes with manifest general covariance. While the matrix coordinates of the D-branes have a complicated transformation law under coordinate transformations, we find that…

We present a new theoretical population synthesis model (the Galaxy Model) to examine and deal with large amounts of data from surveys of the Milky Way and to decipher the present and past structure and history of our own Galaxy. We assume…

The ability of widely distributed radar systems to capture diverse spatial scattering properties substantially improves radar imaging performance. Traditional imaging methods leverage regularized optimization techniques to reconstruct…

Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…

In this paper, we introduce a notion of geometric surgery for flag structures, which are geometric structures locally modelled on the three-dimensional flag space under the action of ${\mathrm{PGL}}_3(\mathbb{R})$. Using such surgeries we…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

Achieving distributed reinforcement learning (RL) for large-scale cooperative multi-agent systems (MASs) is challenging because: (i) each agent has access to only limited information; (ii) issues on convergence or computational complexity…

Firing Squad Synchronisation on Cellular Automata is the dynamical synchronisation of finitely many cells without any prior knowledge of their range. This can be conceived as a signal with an infinite speed. Most of the proposed…

In this paper we enumerate $k$-noncrossing tangled-diagrams. A tangled-diagram is a labeled graph whose vertices are $1,...,n$ have degree $\le 2$, and are arranged in increasing order in a horizontal line. Its arcs are drawn in the upper…

Fragmentation of a spiral arm is thought to drive the formation of giant clumps in galaxies. Using linear perturbation analysis for self-gravitating spiral arms, we derive an instability parameter and define the conditions for clump…

Individuals with upper limb movement limitations face challenges in interacting with others. Although robotic arms are currently used primarily for functional tasks, there is considerable potential to explore ways to enhance users' body…

In this paper we propose a neurogeometrical model of the behaviour of cells of the arm area of the primary motor cortex (M1). We will mathematically express as a fiber bundle the hypercolumnar organization of this cortical area, first…

We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…

We consider the problem of best arm identification in the multi-armed bandit model, under fixed confidence. Given a confidence input $\delta$, the goal is to identify the arm with the highest mean reward with a probability of at least 1 --…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Unlike the classical kinetic theory of rarefied gases, where microscopic interactions among gas molecules are described as binary collisions, the modelling of socio-economic phenomena in a multi-agent system naturally requires to consider,…

We discuss a model for the Milky Way obtained by fitting the observed terminal velocities with the radial acceleration relation. The resulting stellar surface density profile departs from a smooth exponential disk, having bumps and wiggles…

A novel locally statistical active contour model (ACM) for image segmentation in the presence of intensity inhomogeneity is presented in this paper. The inhomogeneous objects are modeled as Gaussian distributions of different means and…