Related papers: DQ Robotics: a Library for Robot Modeling and Cont…
We introduce the notion of the Lie derivative in the context of dual quaternions that represent rigid motions and twists. First we define the wrench in terms of dual quaternions. Then we show how the Lie derivative helps understand how…
Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…
A set of basic vectors locally describing metric properties of an arbitrary 2-dimensional (2D) surface is used for construction of fundamental algebraic objects having nilpotent and idempotent properties. It is shown that all possible…
Uncertainty quantification (UQ) plays a pivotal role in reduction of uncertainties during both optimization and decision making processes. It can be applied to solve a variety of real-world applications in science and engineering. Bayesian…
The concept of a digital twin has exploded in popularity over the past decade, yet confusion around its plurality of definitions, its novelty as a new technology, and its practical applicability still exists, all despite numerous reviews,…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
We propose a novel framework for fast integral operations by uncovering hidden geometries in the row and column structures of the underlying operators. This is accomplished through the \texttt{Questionnaire} algorithm, an iterative…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
Linear algebra is usually defined over a field such as the reals or complex numbers. It is possible to extend this to skew fields such as the quaternions. However, to the authors' knowledge there is no commonly accepted notation of linear…
Obstacle avoidance is a fundamental requirement for autonomous robots which operate in, and interact with, the real world. When perception is limited to monocular vision avoiding collision becomes significantly more challenging due to the…
This paper summarizes a research program that has been underway for a decade. The objective is to find a fast and accurate scheme for solving quantum problems which does not involve a Monte Carlo algorithm. We use an alternative strategy…
The symmetry SU(2) and its geometric Bloch Sphere rendering are familiar for a qubit (spin-1/2) but extension of symmetries and geometries have been investigated far less for multiple qubits, even just a pair of them, that are central to…
Inspired by Double Q-learning algorithm, the Double-DQN (DDQN) algorithm was originally proposed in order to address the overestimation issue in the original DQN algorithm. The DDQN has successfully shown both theoretically and empirically…
Duality transformations are very important in both classical and quantum physics. They allow one to relate two seemingly different formulations of the same physical realm through clever mathematical manipulations, and offer numerous…
A kind of brand-new robot, quantum robot, is proposed through fusing quantum theory with robot technology. Quantum robot is essentially a complex quantum system and it is generally composed of three fundamental parts: MQCU (multi quantum…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Recently, reinforcement learning (RL) is receiving more and more attentions due to its successful demonstrations outperforming human performance in certain challenging tasks. In our recent paper `primal-dual Q-learning framework for LQR…
Inclusions and extensions lie at the heart of physics and mathematics. The most relevant kind of inclusion in quantum systems is that of a von Neumann subalgebra, which is the focus of this work. We propose an object intrinsic to a given…
Wavelets, known to be useful in non-linear multi-scale processes and in multi-resolution analysis, are shown to have a q-deformed algebraic structure. The translation and dilation operators of the theory associate with any scaling equation…
We introduce a way to express compact quantum electrodynamics with dynamical matter on two- and three-dimensional spatial lattices in a gauge redundancy-free manner while preserving translational invariance. By transforming to a rotating…