Related papers: Fast Simultaneous Gravitational Alignment of Multi…

Gaussian processes (GPs) have been proven to be powerful tools in various areas of machine learning. However, there are very few applications of GPs in the scenario of multi-view learning. In this paper, we present a new GP model for…

Multi-view anomaly detection aims to identify surface defects on complex objects using observations captured from multiple viewpoints. However, existing unsupervised methods often suffer from feature inconsistency arising from viewpoint…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Most of the existing tracking methods link the detected boxes to the tracklets using a linear combination of feature cosine distances and box overlap. But the problem of inconsistent features of an object in two different frames still…

We present a mixed complementarity problem (MCP) approach for a steady-state stability analysis of voltage and frequency of electrical grids. We perform a theoretical analysis providing conditions for the global convergence and local…

Efficient beam alignment is fundamental to high-throughput and reliable connectivity in Vehicle-to-Everything (V2X) systems. However, conventional beam management in dynamic vehicular topologies incurs prohibitive alignment overhead and…

Domain adaptation remains a challenge when there is significant manifold discrepancy between source and target domains. Although recent methods leverage manifold-aware adversarial perturbations to perform data augmentation, they often…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…

Considerable advancements have been achieved in SLAM methods tailored for structured environments, yet their robustness under challenging corner cases remains a critical limitation. Although multi-sensor fusion approaches integrating…

The N-body problem is a classic problem involving a system of N discrete bodies mutually interacting in a dynamical system. At any moment in time there are N*(N - 1)/2 such interactions occurring. This scaling as N^2 leads to computational…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…

The multi-reference alignment (MRA) problem entails estimating an image from multiple noisy and rotated copies of itself. If the noise level is low, one can reconstruct the image by estimating the missing rotations, aligning the images, and…

We study simultaneous inference for multiple matrix-variate Gaussian graphical models in high-dimensional settings. Such models arise when spatiotemporal data are collected across multiple sample groups or experimental sessions, where each…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…

We revisit the classic stability problem of the buckling of an inextensible, axially compressed beam on a nonlinear elastic foundation with a semi-analytical approach to understand how spatially localized deformation solutions emerge in…

Data-driven modeling plays an increasingly important role in different areas of engineering. For most of existing methods, such as genetic programming (GP), the convergence speed might be too slow for large scale problems with a large…

Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…