Related papers: Minimum Jerk Trajectory Generation for Straight an…
We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…
This paper presents an approach for learning online generation of collision-free and torque-limited robot trajectories. In order to generate future motions, a neural network is periodically invoked. Based on the current kinematic state of…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
We give an improved theoretical analysis of score-based generative modeling. Under a score estimate with small $L^2$ error (averaged across timesteps), we provide efficient convergence guarantees for any data distribution with second-order…
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory. Our algorithm is numerically stable for large numbers of…
We investigate the problem of minimizing the entropy production for a physical process that can be described in terms of a Markov jump dynamics. We show that, without any further constraints, a given time-evolution may be realized at…
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…
For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target…
While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…
Human motion generation involves creating natural sequences of human body poses, widely used in gaming, virtual reality, and human-computer interaction. It aims to produce lifelike virtual characters with realistic movements, enhancing…
We prove the existence of a weak global in time mean curvature flow of a bounded partition of space using the method of minimizing movements. The result is extended to the case when suitable driving forces are present. We also prove some…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
Temporal graphs are used to abstractly model real-life networks that are inherently dynamic in nature. Given a static underlying graph $G=(V,E)$, a temporal graph on $G$ is a sequence of snapshots $G_t$, one for each time step $t\geq 1$. In…
Invariant descriptors of point and rigid-body motion trajectories have been proposed in the past as representative task models for motion recognition and generalization. Currently, no invariant descriptor exists for representing force…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Sometimes a simple and fast algorithm is required to detect human presence and movement with a low error rate in a controlled environment for security purposes. Here a light weight algorithm has been presented that generates alert on…
Generating 3D human motion based on textual descriptions has been a research focus in recent years. It requires the generated motion to be diverse, natural, and conform to the textual description. Due to the complex spatio-temporal nature…
Text-driven human motion generation based on diffusion strategies establishes a reliable foundation for multimodal applications in human-computer interactions. However, existing advances face significant efficiency challenges due to the…
When analyzing human motion videos, the output jitters from existing pose estimators are highly-unbalanced with varied estimation errors across frames. Most frames in a video are relatively easy to estimate and only suffer from slight…