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Consider a dataset of vector-valued observations that consists of noisy inliers, which are explained well by a low-dimensional subspace, along with some number of outliers. This work describes a convex optimization problem, called REAPER,…
The motion of deformable 4D objects lies in a low-dimensional manifold. To better capture the low dimensionality and enable better controllability, traditional methods have devised several heuristic-based methods, i.e., rigging, for…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
The virtual element method (VEM) allows discretization of the problem domain with polygons in 2D. The polygons can have an arbitrary number of sides and can be concave or convex. These features, among others, are attractive for meshing…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
In this paper, we propose a descent method for composite optimization problems with linear operators. Specifically, we first design a structure-exploiting preconditioner tailored to the linear operator so that the resulting preconditioned…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
In this paper we analyze several new methods for solving nonconvex optimization problems with the objective function formed as a sum of two terms: one is nonconvex and smooth, and another is convex but simple and its structure is known.…
Many learning problems require predicting sets of objects when the number of objects is not known beforehand. Examples include object detection, molecular modeling, and scientific inference tasks such as astrophysical source detection.…
Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…
We present a new algorithm for the design of the connection region between different lattice materials. We solve a Stokes-type topology optimization problem on a narrow morphing region to smoothly connect two different unit cells. The…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
The arrangement of objects into a layout can be challenging for non-experts, as is affirmed by the existence of interior design professionals. Recent research into the automation of this task has yielded methods that can synthesize layouts…
Voxels are a geometric representation used for rendering volumes, multi-resolution models, and indirect lighting effects. Since the memory consumption of uncompressed voxel volumes scales cubically with resolution, past works have…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
Existing computer vision methods mainly focus on the recognition of rigid objects, whereas the recognition of flexible objects remains unexplored. Recognizing flexible objects poses significant challenges due to their inherently diverse…
Optimization of DR-submodular functions has experienced a notable surge in significance in recent times, marking a pivotal development within the domain of non-convex optimization. Motivated by real-world scenarios, some recent works have…
The study of active matter consisting of many self-propelled (active) swimmers in an imposed flow is important for many applications. Self-propelled swimmers may represent both living and artificial ones such as bacteria and chemically…