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Rotary Position Embedding (RoPE) is widely adopted in large language models (LLMs) due to its efficient encoding of relative positions with strong extrapolation capabilities. However, while its application in higher-dimensional input…
We consider the numerical solution of the discrete multi-marginal optimal transport (MOT) by means of the Sinkhorn algorithm. In general, the Sinkhorn algorithm suffers from the curse of dimensionality with respect to the number of…
Perception is fundamental to many robot application areas especially in service robotics. Our aim is to perceive and model an unprepared kitchen scenario with many objects. We start with the perception of a single target object. The…
Transformations in the field of computer graphics and geometry are one of the most important concepts for efficient manipulation and control of objects in 2-dimensional and 3-dimensional space. Transformations take many forms each with…
M\"obius transformations of the extended complex plane are at the crossroads of many interesting topics, e.g., they form a group under composition, are the simplest form of rational function, and are a path to Lie theory. Quaternionic…
Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…
In this work we represent the $1/2$ Spin particles with complex quaternions using a transformation to 2x2 matrices in order to obtain the Pauli matrices. With this representation we determine the states, rotation operators and the total…
The Weingarten relations satisfied by rotationally symmetric surfaces in Euclidean 3-space E3 are considered from three points of view: restrictions on the slope of the relation at umbilic points, the action of SL2(R) as fractional linear…
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…
The use of vectorial parameterization to create geometrical representations in computational models has a large number of applications. One particular application is the calculation of the 3D rotational motion of rigid bodies, that could be…
The metaplectic transform (MT), also known as the linear canonical transform, is a unitary integral mapping which is widely used in signal processing and can be viewed as a generalization of the Fourier transform. For a given function…
Group elements of SU(2) are expressed in closed form as finite polynomials of the Lie algebra generators, for all definite spin representations of the rotation group. The simple explicit result exhibits connections between group theory,…
The study of representations is of fundamental importance to any form of communication, and our ability to exploit them effectively is paramount. This article presents a novel theory -- Representational Systems Theory -- that is designed to…
We calculate the RT-invariants of all oriented Seifert manifolds directly from surgery presentations. We work in the general framework of an arbitrary modular category as in [V. G. Turaev, Quantum invariants of knots and 3--manifolds, de…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
All possible permutations in the discrete $S_4$ group are classified by three rotation angles associated with the orthogonal group $O(3)$. We construct a spinor representation ${\bf 2}_D$ of $O(3)$, which is transformed by three 4$\times$4…
Numerous problems in optics, quantum physics, stability analysis, and control of dynamical systems can be brought to an optimization problem with matrix variable subjected to the symplecticity constraint. As this constraint nicely forms a…
For the Jacobian resulting from the previously considered problem of the path integral reduction in Wiener path integrals for a mechanical system with symmetry describing the motion of two interacting scalar particles on a manifold that is…
The pose of a rigid object is usually regarded as a rigid transformation, described by a translation and a rotation. However, equating the pose space with the space of rigid transformations is in general abusive, as it does not account for…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…