Related papers: OptiTrap: Optimal Trap Trajectories for Acoustic L…
Physical reasoning is important for effective robot manipulation. Recent work has investigated both vision and language modalities for physical reasoning; vision can reveal information about objects in the environment and language serves as…
The automatic detection and tracking of general objects (like persons, animals or cars), text and logos in a video is crucial for many video understanding tasks, and usually real-time processing as required. We propose OmniTrack, an…
We present LeviCursor, a method for interactively moving a physical, levitating particle in 3D with high agility. The levitating object can move continuously and smoothly in any direction. We optimize the transducer phases for each possible…
Experimental analysis of cavitation bubble dynamics typically uses optical imaging. However, images are often severely affected by distortions and shadows due to refraction and total reflection at the liquid--gas interface. Here it is shown…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees…
Quadratic systems with lossless quadratic terms arise in many applications, including models of atmosphere and incompressible fluid flows. Such systems have a trapping region if all trajectories eventually converge to and stay within a…
Autoregressive language models demonstrate excellent performance in various scenarios. However, the inference efficiency is limited by its one-step-one-word generation mode, which has become a pressing problem recently as the models become…
Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…
Orbital optical trapping of a dielectric micro-particle in air was studied experimentally using a lensed, counter-propagating dual-beam trap, and by numerical simulations employing ray optics. The essential attributes of particle dynamics…
Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Monocular vision-based navigation for automated driving is a challenging task due to the lack of enough information to compute temporal relationships among objects on the road. Optical flow is an option to obtain temporal information from…
We propose a way to make arrays of optical frequency dipole-force microtraps for cold atoms above a dielectric substrate. Traps are nodes in the evanescent wave fields above an optical waveguide resulting from interference of different…
Visual object tracking has significantly promoted autonomous applications for unmanned aerial vehicles (UAVs). However, learning robust object representations for UAV tracking is especially challenging in complex dynamic environments, when…
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
A new approach to the tracking of sinusoidal chirps using linear programming is proposed. It is demonstrated that the classical algorithm of McAulay and Quatieri is greedy and exhibits exponential complexity for long searches, while…
Retrieving the phase of a complex-valued field from the measurements of its amplitude is a crucial problem with a wide range of applications in microscopy and ultracold atomic physics. In particular, obtaining an accurate and efficient…