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We provide a visual and intuitive introduction to effectively calculating in 2-groups along with explicit examples coming from non-abelian 1- and 2-form gauge theory. In particular, we utilize string diagrams, tools similar to tensor…
The critical goal of gait recognition is to acquire the inter-frame walking habit representation from the gait sequences. The relations between frames, however, have not received adequate attention in comparison to the intra-frame features.…
We study the growing patterns in the rotor-router model formed by adding $N$ walkers at the center of a $L \times L$ two-dimensional square lattice, starting with a periodic background of arrows, and relaxing to a stable configuration. The…
We develop an invariant local theory of Lorentz surfaces in pseudo-Euclidean 4-space by use of a linear map of Weingarten type. We find a geometrically determined moving frame field at each point of the surface and obtain a system of…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
The rotor-router model on a graph describes a discrete-time walk accompanied by the deterministic evolution of configurations of rotors randomly placed on vertices of the graph. We prove the following property: if at some moment of time,…
Mounding instability in a conserved growth from vapor is analysed within the framework of adatom kinetics on the growing surface. The analysis shows that depending on the local structure on the surface, kinetics of adatoms may vary, leading…
Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this…
A formal proof has not been found for the four color theorem since 1852 when Francis Guthrie first conjectured the four color theorem. Why? A bad idea, we think, directed people to a rough road. Using a similar method to that for the formal…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
A marginally trapped surface in the four-dimensional Minkowski space is a spacelike surface whose mean curvature vector is lightlike at each point. We associate a geometrically determined moving frame field to such a surface and using the…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
An approach of using RGB-tilings for proving the Four Color Theorem discussed in three previous work is expanded in this paper. A novel methodology and revisions for the methodology in the three aforementioned papers are discussed, and a…
Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…
We make precise and prove a conjecture of Klivans about actions of the sandpile group on spanning trees. More specifically, the conjecture states that there exists a unique ``suitably nice'' sandpile torsor structure on plane graphs which…
Bi-adjoint scalars are helpful in studying properties of color/kinematics duality and the double copy, which relates scattering amplitudes of gauge and gravity theories. Here we study bi-adjoint scalars from a worldline perspective. We show…
We fully generalize a previously-developed computational geometry tool [1] to perform large-scale simulations of arbitrary two-dimensional faceted surfaces $z = h(x,y)$. Our method uses a three-component facet/edge/junction storage model,…