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In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
Using canonical quantisation, and eschewing the Schwinger-Keldysh path integral, we derive a version of the Worldline Quantum Field Theory (WQFT) formalism suitable for both scattering and bound configurations of the classical two-body…
In optimization the duality gap between the primal and the dual problems is a measure of the suboptimality of any primal-dual point. In classical mechanics the equations of motion of a system can be derived from the Hamiltonian function,…
Although cosmological solutions to Einstein's equations are known to be generically singular, little is known about the nature of singularities in typical spacetimes. It is shown here how the operator splitting used in a particular…
The world knowledge and reasoning capabilities of text-based large language models (LLMs) are advancing rapidly, yet current approaches to human motion understanding, including motion question answering and captioning, have not fully…
We study a sampling problem for the abstract wavelet transform associated with the quasiregular representation of the $SE(2)$ group, for a modulated gaussian mother wavelet. This problem is motivated by the behavior of brain's primary…
A pseudoclassical model, reproducing, upon quantization, the dynamics of the chiral sectors of the massless spin-1/2 field theory is proposed. The discrete symmetries of the action are studied in details. In order to reproduce the positive…
While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…
Dexterous robotic manipulation remains a significant challenge due to the high dimensionality and complexity of hand movements required for tasks like in-hand manipulation and object grasping. This paper addresses this issue by introducing…
An algorithm, based on numerical description of the terms of many-body perturbation theory (Goldstone diagrams), is presented. The algorithm allows the use of the same piece of computer code to evaluate any particular diagram in any…
The fastest quantum algorithms (for the solution of classical computational tasks) known so far are basically variations of the hidden subgroup problem with {$f(U[x])=f(x)$}. Following a discussion regarding which tasks might be solved…
Self-supervised, category-agnostic segmentation of real-world images is a challenging open problem in computer vision. Here, we show how to learn static grouping priors from motion self-supervision by building on the cognitive science…
This fourth and last tome is focusing on describing the envisioned works for a project that has been presented in the preceding tome. It is about a new approach dedicated to the coding of still and moving pictures, trying to bridge the…
Preparation of non-trivial quantum states without introducing unwanted excitations or decoherence remains a central challenge in utilizing ultracold atomic systems for quantum simulation. We employ optimal control methods to realize fast,…
We define formal geometric quantisation for proper Hamiltonian actions by possibly noncompact groups on possibly noncompact, prequantised symplectic manifolds, generalising work of Weitsman and Paradan. We study the functorial properties of…
This paper is dedicated to the memory of Moshe Flato, and will appear in Lett. Math. Phys. 48 (1) It became clear during last 5-6 years that the algebraic world of associative algebras (abelian categories, triangulated categories, etc) has…
Conic programming has well-documented merits in a gamut of signal processing and machine learning tasks. This contribution revisits a recently developed first-order conic descent (CD) solver, and advances it in three aspects: intuition,…
We propose a method for demonstrating equivalences beyond the saddlepoint approximation between quantities in quantum gravity that are defined by the Euclidean path integral, without assumptions about holographic duality. The method…
We uncover the dynamics of particles with Gaussian core interactions across melting in pure and disordered two-dimensional (2D) systems. Intriguing signatures of cooperative motion of particles in string-like paths are found at low…