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For uncertainty propagation of highly complex and/or nonlinear problems, one must resort to sample-based non-intrusive approaches [1]. In such cases, minimizing the number of function evaluations required to evaluate the response surface is…
Diffusion models learn strong image priors that can be leveraged to solve inverse problems like medical image reconstruction. However, for real-world applications such as 3D Computed Tomography (CT) imaging, directly training diffusion…
We propose a new compressive imaging method for reconstructing 2D or 3D objects from their scattered wave-field measurements. Our method relies on a novel, nonlinear measurement model that can account for the multiple scattering phenomenon,…
We consider a class of difference-of-convex (DC) optimization problems where the objective function is the sum of a smooth function and a possible nonsmooth DC function. The application of proximal DC algorithms to address this problem…
We initiate the study of diameter computation in geometric intersection graphs from the fine-grained complexity perspective. A geometric intersection graph is a graph whose vertices correspond to some shapes in $d$-dimensional Euclidean…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
We propose a novel method for establishing correspondence between two sequences of 2D images. One particular application of this technique is slice-level content navigation, where the goal is to localize specific 2D slices within a 3D…
High-Sfrequency (HF) ray tracing in the complex ionospheric medium generally faces a fundamental trade-off between path accuracy and computational efficiency. This paper presents a high-fidelity Ray Tracing Method (RTM) synergistically…
Robotic assembly of complex, non-convex geometries with tight clearances remains a challenging problem, demanding precise state estimation for successful insertion. In this work, we propose a novel framework that relies solely on contact…
A deep equilibrium model uses implicit layers, which are implicitly defined through an equilibrium point of an infinite sequence of computation. It avoids any explicit computation of the infinite sequence by finding an equilibrium point…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…
Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…
We study an expansion method for high-dimensional parabolic PDEs which constructs accurate approximate solutions by decomposition into solutions to lower-dimensional PDEs, and which is particularly effective if there are a low number of…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
We provide exact asymptotic expressions for the performance of regression by an $L-$layer deep random feature (RF) model, where the input is mapped through multiple random embedding and non-linear activation functions. For this purpose, we…
In this paper, we present a new method for computing approximate geodesic distances. We introduce the wave method for approximating geodesic distances from a point on a manifold mesh. Our method involves the solution of two linear systems…
Self-supervised surround-view depth estimation enables dense, low-cost 3D perception with a 360{\deg} field of view from multiple minimally overlapping images. Yet, most existing methods suffer from depth estimates that are inconsistent…
We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the contact dynamics estimation problem as the joint estimation of…