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Recent advances in 3D Gaussian Splatting (3D-GS) have shown remarkable success in representing 3D scenes and generating high-quality, novel views in real-time. However, 3D-GS and its variants assume that input images are captured based on…
This paper studies the convergence of the mirror descent algorithm for finite horizon stochastic control problems with measure-valued control processes. The control objective involves a convex regularisation function, denoted as $h$, with…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…
This paper presents a correspondence-free, function-based sim-to-real learning method for controlling deformable freeform surfaces. Unlike traditional sim-to-real transfer methods that strongly rely on marker points with full…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Dynamic spectrum management (DSM) has been recognized as a key technology to significantly improve the performance of digital subscriber line (DSL) broadband access networks. The basic concept of DSM is to coordinate transmission over…
Although synthetic data can alleviate acquisition challenges in image dehazing tasks, it also introduces the problem of domain bias when dealing with small-scale data. This paper proposes a novel dual-branch collaborative unpaired dehazing…
This paper demonstrates a cryogenic deformable mirror (DM) with 1,020 actuators based on micro-electrical mechanical systems (MEMS) technology. Cryogenic space-borne infrared telescopes can experience a wavefront error due to a figure error…
We apply robust control technics to an adaptive optics system including a dynamic model of the deformable mirror. The dynamic model of the mirror is a modification of the usual plate equation. We propose also a state-space approach to model…
Due to turbulence in the atmosphere images taken from ground-based telescopes become distorted. With adaptive optics (AO) images can be given greater clarity allowing for better observations with existing telescopes and are essential for…
We study an explicit mirror-descent method for finite-horizon deterministic optimal control problems. The method is motivated by Pontryagin's maximum principle: at each iteration, one solves the state and adjoint equations and updates the…
Depth position highly affects lens distortion, especially in close-range photography, which limits the measurement accuracy of existing stereo vision systems. Moreover, traditional depth-dependent distortion models and their calibration…
The main objective of the present project is to explore the viability of an adaptive optics control system based exclusively on Field Programmable Gate Arrays (FPGAs), making strong use of their parallel processing capability. In an…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
We propose OptCtrlPoints, a data-driven framework designed to identify the optimal sparse set of control points for reproducing target shapes using biharmonic 3D shape deformation. Control-point-based 3D deformation methods are widely…
The MagAO-X instrument is an upgrade of the Magellan AO system that will introduce extreme adaptive optics capabilities for high-contrast imaging at visible and near-infrared wavelengths. A central component of this system is a…
We present modeling and analysis of a hysteretic deformable mirror where the facesheet interacts with a continuous layer of piezoelectric material that can be actuated distributively by a matrix of electrodes through multiplexing. Moreover,…
We propose DeepMetaHandles, a 3D conditional generative model based on mesh deformation. Given a collection of 3D meshes of a category and their deformation handles (control points), our method learns a set of meta-handles for each shape,…