Related papers: The Globally Optimal Reparameterization Algorithm:…
We examine the problem of learning sequential tasks from a single visual demonstration. A key challenge arises when demonstrations are temporally misaligned due to variations in timing, differences in embodiment, or inconsistencies in…
Global pairwise network alignment (GPNA) aims to find a one-to-one node mapping between two networks that identifies conserved network regions. GPNA algorithms optimize node conservation (NC) and edge conservation (EC). NC quantifies…
Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…
Time Series Analysis (TSA) is a critical workload to extract valuable information from collections of sequential data, e.g., detecting anomalies in electrocardiograms. Subsequence Dynamic Time Warping (sDTW) is the state-of-the-art…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Deep visual odometry has demonstrated great advancements by learning-to-optimize technology. This approach heavily relies on the visual matching across frames. However, ambiguous matching in challenging scenarios leads to significant errors…
Full Waveform Inversion (FWI) is a powerful technique for estimating high-resolution subsurface velocity models by minimizing the discrepancy between modeled and observed seismic data. However, the oscillatory nature of seismic waveforms…
Reinforcement learning (RL) has become a critical paradigm for LLM post-training, yet the rollout phase -- accounting for 50--80% of total step time -- is bottlenecked by skewed generation: long-tailed trajectories indispensable for model…
There has been a significant increase in the deployment of neural network models, presenting substantial challenges in model adaptation and fine-tuning. Efficient adaptation is crucial in maintaining model performance across diverse tasks…
Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…
We propose an algorithm for distributed optimization over time-varying communication networks. Our algorithm uses an optimized ratio between the number of rounds of communication and gradient evaluations to achieve fast convergence. The…
Modern multi-access 5G+ networks provide mobile terminals with additional capacity, improving network stability and performance. However, in highly mobile environments such as vehicular networks, supporting multi-access connectivity remains…
In this proof of concept, we use Computer Vision (CV) methods to extract pose information out of exercise videos. We then employ a modified version of Dynamic Time Warping (DTW) to calculate the deviation from a gold standard execution of…
We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…
Oriented object detection, an emerging task in recent years, aims to identify and locate objects across varied orientations. This requires the detector to accurately capture the orientation information, which varies significantly within and…
Programmable arrays of optical traps enable the assembly of configurations of single atoms to perform controlled experiments on quantum many-body systems. Finding the sequence of control operations to transform an arbitrary configuration of…
Frequency-domain thermoreflectance (FDTR) is a widely used technique for characterizing thermal properties of multilayer thin films. However, extracting multiple parameters from FDTR measurements presents a nonlinear inverse problem due to…
This article introduces a new physics-based method for rigid point set alignment called Fast Gravitational Approach (FGA). In FGA, the source and target point sets are interpreted as rigid particle swarms with masses interacting in a…
Multiple Object Tracking (MOT) has been a useful yet challenging task in many real-world applications such as video surveillance, intelligent retail, and smart city. The challenge is how to model long-term temporal dependencies in an…
Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or visually degraded environments (e.g., plain walls or low lighting) lead to poor pose estimation and track loss. However, robots are…