Related papers: Towards Automatic Identification of Globally Valid…
We describe a framework for systematic enumeration of families combinatorial structures which possess a certain regularity. More precisely, we describe how to obtain the differential equations satisfied by their generating series. These…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This paper is devoted to the characterization of differentially flat nonlinear systems in implicit representation, after elimination of the input variables, in the differential geometric framework of manifolds of jets of infinite order. We…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of scalable simulated robotic tasks. Foundation models have…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
Under the data manifold hypothesis, high-dimensional data are concentrated near a low-dimensional manifold. We study the problem of Riemannian optimization over such manifolds when they are given only implicitly through the data…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Presented with a new machine with a specific interconnect topology, algorithm designers use intuition about the symmetry of the algorithm to design time and communication-efficient schedules that map the algorithm to the machine. Is there a…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
Finding correspondences between shapes is a fundamental problem in computer vision and graphics, which is relevant for many applications, including 3D reconstruction, object tracking, and style transfer. The vast majority of correspondence…
Geometric consistency, i.e. the preservation of neighbourhoods, is a natural and strong prior in 3D shape matching. Geometrically consistent matchings are crucial for many downstream applications, such as texture transfer or statistical…
An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by…
We consider the problem of learning a function respecting a symmetry from among a class of symmetries. We develop a unified framework that enables symmetry discovery across a broad range of subgroups including locally symmetric, dihedral…
The computational cost of simulating quantum many-body systems can often be reduced by taking advantage of physical symmetries. While methods exist for specific symmetry classes, a general algorithm to find the full permutation symmetry…
Studies on simulation input uncertainty often built on the availability of input data. In this paper, we investigate an inverse problem where, given only the availability of output data, we nonparametrically calibrate the input models and…
The starting point of this work is a framework allowing to model systems with dynamic process creation, equipped with a procedure to detect symmetric executions (ie., which differ only by the identities of processes). This allows to reduce…