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In this essay I begin to lay out a conceptual scheme for: (i) analysing dualities as cases of theoretical equivalence; (ii) assessing when cases of theoretical equivalence are also cases of physical equivalence. The scheme is applied to…
A set of observables is described for the topological quantum field theory which describes quantum gravity in three space-time dimensions with positive signature and positive cosmological constant. The simplest examples measure the…
The widespread adoption of AI models, especially foundation models (FMs), has made a profound impact on numerous domains. However, it also raises significant ethical concerns, including bias issues. Although numerous efforts have been made…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…
Time-Spatial data plays a crucial role for different fields such as traffic management. These data can be collected via devices such as surveillance sensors or tracking systems. However, how to efficiently an- alyze and visualize these data…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Local observation is an important problem both for the foundations of a quantum theory of gravity and for applications to quantum-cosmological problems such as eternal inflation. While gauge invariant local observables can't be defined, it…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
We examine the problem of maximizing the reachability of a given source in temporal graphs that are given as the union of k temporal paths, i.e., every given path is a sequence of edges with strictly increasing labels that denote…
In this work, we study the classical phase space for the gravitational degrees of freedom along a null ray. We construct gauge-invariant observables localized on a null ray segment that commute with those localized on the complement; thus,…
We propose a mathematical structure, based on a noncommutative geometry, which combines essential aspects of general relativity and quantum mechanics, and leads to correct "limiting cases" of both these theories. We quantize a groupoid…
Economic complexity measures aim to quantify the capability content or endowment of industries and territories; however, capabilities are not observable, and therefore cannot be directly used in the computations. We estimate such endowments…
Problem-driven visualization work is rooted in deeply understanding the data, actors, processes, and workflows of a target domain. However, an individual's personality traits and cognitive abilities may also influence visualization use.…
In this paper, we propose to go beyond the well-established approach to vision-based localization that relies on visual descriptor matching between a query image and a 3D point cloud. While matching keypoints via visual descriptors makes…
The Earth's surface is subject to complex and dynamic processes, ranging from large-scale phenomena such as tectonic plate movements to localized changes associated with ecosystems, agriculture, or human activity. Satellite images enable…
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…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…
Shannon's Index of Difficulty ($ID$), reputable for quantifying the perceived difficulty of pointing tasks as a logarithmic relationship between movement-amplitude ($A$) and target-width ($W$), is used for modelling the corresponding…