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This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
Optical trapping techniques are an efficient way to probe limited quantities of rare isotopes. In order to achieve the highest possible measurement precision, it is critical to optimize the optical trapping efficiency. This work presents…
Optical forces are often calculated by discretizing the trapping light beam into a set of rays and using geometrical optics to compute the exchange of momentum. However, the number of rays sets a trade-off between calculation speed and…
We present an optical flow estimation approach that operates on the full four-dimensional cost volume. This direct approach shares the structural benefits of leading stereo matching pipelines, which are known to yield high accuracy. To this…
As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high…
Multimodal semantic cues, such as textual descriptions, have shown strong potential in enhancing target perception for tracking. However, existing methods rely on static textual descriptions from large language models, which lack…
We present a new test-time optimization method for estimating dense and long-range motion from a video sequence. Prior optical flow or particle video tracking algorithms typically operate within limited temporal windows, struggling to track…
We introduce LocoTrack, a highly accurate and efficient model designed for the task of tracking any point (TAP) across video sequences. Previous approaches in this task often rely on local 2D correlation maps to establish correspondences…
There hardly exists any large-scale datasets with dense optical flow of non-rigid motion from real-world imagery as of today. The reason lies mainly in the required setup to derive ground truth optical flows: a series of images with known…
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…
This work investigates the use of robust optimal transport (OT) for shape matching. Specifically, we show that recent OT solvers improve both optimization-based and deep learning methods for point cloud registration, boosting accuracy at an…
Trapped ions offer long internal state (spin) coherence times and strong inter-particle interactions mediated by the Coulomb force. This makes them interesting candidates for quantum simulation of coupled lattices. To this end it is…
Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
The successful development and optimisation of optically-driven micromachines will be greatly enhanced by the ability to computationally model the optical forces and torques applied to such devices. In principle, this can be done by…
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic…
To address the ill-posed problem caused by partial observations in monocular human volumetric capture, we present AvatarCap, a novel framework that introduces animatable avatars into the capture pipeline for high-fidelity reconstruction in…
When introducing a nanoparticle into an optical trap, its mass and shape are not immediately apparent. We combine a charge-based mass measurement with a shape determination method based on light scattering and an analysis of the damping…
In this paper we first contribute a large scale online study (N=400) to better understand aesthetic perception of aerial video. The results indicate that it is paramount to optimize smoothness of trajectories across all keyframes. However,…