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This is a short note to announce the availability of some movies that may be useful in classroom discussions on the photographic appearance of objects moving at relativistic speeds. The images are based on special relativity with no account…
Physics-based reinforcement learning tasks can benefit from simplified physics simulators as they potentially allow near-optimal policies to be learned in simulation. However, such simulators require the latent factors (e.g. mass, friction…
Newton's Theorem of Revolving Orbits derives the force that is necessary to explain a particular precession that leaves the shape of an orbit unchanged. Newton showed that for an orbiting body that is already subject to any central force,…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
This paper studies the complexity of classical modal logics and of their extension with fixed-point operators, using translations to transfer results across logics. In particular, we show several complexity results for multi-agent logics…
Intractable phase dynamics often challenge our understanding of complex oscillatory systems, hindering the exploration of synchronisation, chaos, and emergent phenomena across diverse fields. We introduce a novel conceptual framework for…
Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to collect successful catching trajectories and learn a…
We provide an example of how the complex dynamics of a recently introduced model can be understood via a detailed analysis of its associated Riemann surface. Thanks to this geometric description an explicit formula for the period of the…
Constraints imposed directly on accelerations of the system leading to the relation of constants of motion with appropriate local projectors occurring in the derived equations are considered. In this way a generalization of the Noether's…
Relativistic equation of state and velocity comparable with the speed of light are included in consideration of a superfluid rotating in a cylindrical container. Minimizing the free energy, we derive the equation of motion. It admits an…
The analysis of the dynamics of radial movement in different reference frames used in cosmology is made. Use of different frames leads to the difference in inertial forces resulting in different observable effects. The important effect is…
The tools developed in a preceding article for interpreting spacetime geometry in terms of all possible space-plus-time splitting approaches are applied to circular orbits in some familiar stationary axisymmetric spacetimes. This helps give…
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…
We provide a complete structure theorem for involutory matrices. This yields a new approach to principal angles between subspaces and provide a series of nice formulae for these angles.
Abduction is a fundamental and important form of non-monotonic reasoning. Given a knowledge base explaining how the world behaves it aims at finding an explanation for some observed manifestation. In this paper we focus on propositional…
As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Exterior calculus and moving frames are used to describe curved elastic shells. The kinematics follow from the Lie-derivative on forms whereas the dynamics via stress-forms.
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
Life mechanics, an emerging field, focuses on the self-organizing forces and motions within living systems. This study introduces the novel concept of active force, generated by mind-body interactions, as an essential element in…