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We propose metasurface holograms as a novel platform to generate optical trap arrays for cold atoms with high fidelity, efficiency, and thermal stability. We developed design and fabrication methodologies to create dielectric, phase-only…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Optimized topology of bi-material acoustic metamaterial lattice plates is studied for maximized locally resonant bandgap of flexural guided waves. Optimized layout of the two relatively stiff and compliant material phases in the design…
Autoregressive models have proven to be very powerful in NLP text generation tasks and lately have gained popularity for image generation as well. However, they have seen limited use for the synthesis of 3D shapes so far. This is mainly due…
An articulated probe is modeled in the plane as two line segments, $ab$ and $bc$, joined at $b$, with $ab$ being very long, and $bc$ of some small length $r$. We investigate a trajectory planning problem involving the articulated…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
Trajectory analysis is essential in many applications. In this paper, we address the problem of representing motion trajectories in a highly informative way, and consequently utilize it for analyzing trajectories. Our approach first…
This paper considers the relaxed version of the transport problem for general nonlinear control systems, where the objective is to design time-varying feedback laws that transport a given initial probability measure to a target probability…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
Topology optimization methods have widely been used in various industries, owing to their potential for providing promising design candidates for mechanical devices. However, their applications are usually limited to the objects which do…
Vision-Language (VL) models have garnered considerable research interest; however, they still face challenges in effectively handling text within images. To address this limitation, researchers have developed two approaches. The first…
Learning to represent and generate videos from unlabeled data is a very challenging problem. To generate realistic videos, it is important not only to ensure that the appearance of each frame is real, but also to ensure the plausibility of…
In the field of optomechanics, radiation forces have provided a particularly high level of control over the frequency and dissipation of mechanical elements. Here we propose a class of optomechanical systems in which light exerts a…
Accurate structural relaxation is critical for advanced materials design. Traditional approaches built on physics-derived first-principles calculations are computationally expensive, motivating the creation of machine-learning interatomic…
Open-vocabulary multi-object tracking (OVMOT) represents a critical new challenge involving the detection and tracking of diverse object categories in videos, encompassing both seen categories (base classes) and unseen categories (novel…
This paper presents novel methods to approximate the nonlinear AC optimal power flow (OPF) into tractable linear/quadratic programming (LP/QP) based OPF problems that can be used for power system planning and operation. We derive a linear…
Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…