Related papers: OptiTrap: Optimal Trap Trajectories for Acoustic L…
Optical trapping has proven to be a valuable experimental technique for precisely controlling small dielectric objects. However, due to their very nature, conventional optical traps are diffraction limited and require high intensities to…
Acoustic levitation enables non-contact manipulation using sound waves. While conventional methods entrap particles at pressure nodes (zero-pressure region surrounded by high-pressure), we demonstrate stable acoustic levitation and…
A customizable method (OPTIKS) for designing fast trajectory-constrained gradient waveforms with optimized time domain properties was developed. Given a specified multidimensional k-space trajectory, the method optimizes traversal speed…
Optimal path parameterization (OPP) is a fundamental problem for planning trajectories along a prescribed geometric path under kinodynamic constraints and task-dependent objectives. While TOPP minimizes traversal time, its saturating states…
Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…
Propagated acoustic waves, which generate radiation pressure, exert a non-contact force on a remote object. By suitably designing the wave field, remote tweezers are produced that stably levitate particles in the air without any mechanical…
Nanoparticles levitated by optical fields under vacuum conditions have applications in quantum science, the study of nanothermodynamics and precision sensing. Existing techniques for loading optical traps require ambient conditions, and…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…
Trailer generation is a challenging video clipping task that aims to select highlighting shots from long videos like movies and re-organize them in an attractive way. In this study, we propose an inverse partial optimal transport (IPOT)…
For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…
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…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Consider an input consisting of a set of $n$ disjoint triangular obstacles in $\mathbb{R}^3$ and a target point $t$ in the free space, all enclosed by a large sphere $S$ of radius $R$ centered at $t$. An articulated probe is modeled as two…
Levitation optomechanics exploits the unique mechanical properties of trapped nano-objects in vacuum in order to address some of the limitations of clamped nanomechanical resonators. In particular, its performance is foreseen to contribute…
In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Our objective is to accurately predict the impact point, defined as the object's landing position. This task poses two key challenges:…
Simulation involves predicting responses of a physical system. In this article, we simulate opto-acoustic signals generated in a three-dimensional volume due to absorption of an optical pulse. A separable computational model is developed…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
While text-to-video diffusion models have made significant strides, many still face challenges in generating videos with temporal consistency. Within diffusion frameworks, guidance techniques have proven effective in enhancing output…
Data scarcity continues to be a major challenge in the field of robotic manipulation. Although diffusion models provide a promising solution for generating robotic manipulation videos, existing methods largely depend on 2D trajectories,…