Related papers: How do we walk? Using hybrid holonomy to approxima…
Human motion taxonomies serve as high-level hierarchical abstractions that classify how humans move and interact with their environment. They have proven useful to analyse grasps, manipulation skills, and whole-body support poses. Despite…
Predicting adaptive evolutionary trajectories is a primary goal of evolutionary biology. One can differentiate between forward and backward predictability, where forward predictability measures the likelihood of the same adaptive trajectory…
Random walkers characterized by random positions and random velocities lead to normal diffusion. A random walk was originally proposed by Einstein to model Brownian motion and to demonstrate the existence of atoms and molecules. Such a…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Using spectral graph theory, we show how to obtain inequalities for the number of walks in graphs from nonnegative polynomials and present a new family of such inequalities.
It is well established that application of an oscillatory excitation with zero time-average but temporal asymmetry can yield net drift. To date this temporal symmetry breaking and net drift has been explored primarily in the context of…
The quantum walk dynamics obey the laws of quantum mechanics with an extra locality constraint, which demands that the evolution operator is local in the sense that the walker must visit the neighboring locations before endeavoring to…
Many dynamical systems exhibit similar structure, as often captured by hand-designed simplified models that can be used for analysis and control. We develop a method for learning to correspond pairs of dynamical systems via a learned latent…
Vast literature on the experiments and mathematical formulations on the geometric phases signifies the importance of this subject. Physical mechanism for the origin of the geometric phases in optics was suggested in 1992 by the author in…
In this paper we study a system of nonlinear partial differential equations, which describes the evolution of two pedestrian groups moving in opposite direction. The pedestrian dynamics are driven by aversion and cohesion, i.e. the tendency…
Generating realistic human motion is essential for many computer vision and graphics applications. The wide variety of human body shapes and sizes greatly impacts how people move. However, most existing motion models ignore these…
Human motion prediction aims at generating future frames of human motion based on an observed sequence of skeletons. Recent methods employ the latest hidden states of a recurrent neural network (RNN) to encode the historical skeletons,…
We propose to leverage Transformer architectures for non-autoregressive human motion prediction. Our approach decodes elements in parallel from a query sequence, instead of conditioning on previous predictions such as instate-of-the-art…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
A nonholonomic system is a mechanical system with velocity constraints not originating from position constraints; rolling without slipping is the typical example. A nonholonomic integrator is a numerical method specifically designed for…
Random walks on graphs can be slow. To speed them up, imagine that at each step instead of choosing the neighbor at random, there is a small probability $\varepsilon>0$ that we can choose it. We show that in this case, at least for graphs…
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…
A simple model with a novel type of dynamics is introduced in order to investigate the emergence of self-ordered motion in systems of particles with biologically motivated interaction. In our model particles are driven with a constant…
We present a study of the effects of decoherence in the operation of a discrete quantum walk on a line, cycle and hypercube. We find high sensitivity to decoherence, increasing with the number of steps in the walk, as the particle is…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. Nevertheless, humans exhibit significant patterns in how they execute movements. We propose that the observed patterns…