Related papers: A Systematic Approach to Computing the Manipulator…
Computing multivariate derivatives of matrix-like expressions in the compact, coordinate free fashion is very important for both theory and applied computations (e.g. optimization and machine learning). The critical components of such…
The probability distribution (PD) of spin configurations in kinetic Ising models has been cast in the form of the canonical Boltzmann PD with a time-dependent effective Hamiltonian (EH). It has been argued that in systems with extensive…
Ensemble smoother (ES) has been widely used in various research fields to reduce the uncertainty of the system-of-interest. However, the commonly-adopted ES method that employs the Kalman formula, that is, ES$_\text{(K)}$, does not perform…
This paper describes open-source scientific contributions in python surrounding the numerical solutions to hyperbolic Hamilton-Jacobi (HJ) partial differential equations viz., their implicit representation on co-dimension one surfaces;…
The Euler Characteristic Transform (ECT) of Turner et al. provides a way to statistically analyze non-diffeomorphic shapes without relying on landmarks. In applications, this transform is typically approximated by a discrete set of…
Robotic kitting is a critical task in industrial automation that requires the precise arrangement of objects into kits to support downstream production processes. However, when handling complex kitting tasks that involve fine-grained…
This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…
This study introduces a novel approach for deriving the governing equations of the musculoskeletal system in the human body. The proposed formalism offers a framework to effectively incorporate the kinematic characteristics of biological…
Issues in co-evolutionary population dynamics have long been studied via computationally intensive simulations of minimally simple agent-based models, known as Evolutionary Spatial Cyclic Games (ESCGs), involving multiple interacting…
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching…
Hessian information speeds convergence substantially in motion optimization. The better the Hessian approximation the better the convergence. But how good is a given approximation theoretically? How much are we losing? This paper addresses…
We present the Interactive Task Encoding System (ITES) for teaching robots to perform manipulative tasks. ITES is designed as an input system for the Learning-from-Observation (LfO) framework, which enables household robots to be programmed…
Lines of exceptional points are robust in the 3-dimensional non-Hermitian parameter space without requiring any symmetry. However, when more elaborate exceptional structures are considered, the role of symmetry becomes critical. One such…
In this work, a data-driven modeling framework of switched dynamical systems under time-dependent switching is proposed. The learning technique utilized to model system dynamics is Extreme Learning Machine (ELM). First, a method is…
With the recent proliferation of open-source packages for computing, power system differential-algebraic equation (DAE) modeling and simulation are being revisited to reduce the programming efforts. Existing open-source tools require manual…
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's kinematic constraints or obstacles elsewhere in the…
The dynamic complexity of robots and mechatronic systems often pertains to the hybrid nature of dynamics, where governing equations consist of heterogenous equations that are switched depending on the state of the system. Legged robots and…
Large language models display in-context learning as an emergent effect of scale, but they rely on static weights during inference. In contrast, biological systems continually adapt via synaptic plasticity. We investigate whether explicit,…
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the…
A numerical algorithm is proposed to explore in a systematic way the trajectories of the eigenvalues of non-Hermitian matrices in the parametric space and exploit this in order to find the locations of defective eigenvalues in the complex…