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This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…
In this paper, we introduce multiple skew-orthogonal polynomials and investigate their connections with classical integrable systems. By using Pfaffian techniques, we show that multiple skew-orthogonal polynomials can be expressed by…
StyleGAN2 was demonstrated to be a powerful image generation engine that supports semantic editing. However, in order to manipulate a real-world image, one first needs to be able to retrieve its corresponding latent representation in…
Clustering is an effective technique in data mining to generate groups that are the matter of interest. Among various clustering approaches, the family of k-means algorithms and min-cut algorithms gain most popularity due to their…
The Quantum Max Cut (QMC) problem has emerged as a test-problem for designing approximation algorithms for local Hamiltonian problems. In this paper we attack this problem using the algebraic structure of QMC, in particular the relationship…
Detecting slender, overlapping structures remains a challenge in computational microscopy. While recent coordinate-based approaches improve detection, they often produce less accurate splines than pixel-based methods. We introduce a…
We show that we can release the rigidity of the skew Howe duality process for ${\mathfrak sl}_n$ knot invariants by rescaling the quantum Weyl group action, and recover skein modules for web-tangles. This skew Howe duality phenomenon can be…
It is a challenging problem to construct an efficient quantum algorithm which can compute the Jones' polynomial for any knot or link obtained from platting or capping of a $2n$-strand braid. We recapitulate the construction of braid-group…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
We introduce and develop a theory of orthogonality with respect to Sobolev inner products on the real line for sequences of functions with a tridiagonal, skew-Hermitian differentiation matrix. While a theory of such L2-orthogonal systems is…
This paper describes an approach to computer aided calculations in the cohomology of arithmetic groups. It complements existing literature on the topic by emphasizing homotopies and perturbation techniques, rather than cellular subdivision,…
Certain reductions of the rank 2, genera 2 and 3 Hitchin systems are considered, which are shown to give an integrable system of 2, resp. 3, interacting points on the line. It is shown that the reduced systems are particular cases of a…
Converting quad meshes to smooth manifolds, guided subdivision offers a way to combine the good highlight line distributions of recent G-spline constructions with the refinability of subdivision surfaces. Specifically, we present a C2…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
In topologically-protected quantum computation, quantum gates can be carried out by adiabatically braiding two-dimensional quasiparticles, reminiscent of entangled world lines. Bonesteel et al. [Phys. Rev. Lett. 95, 140503 (2005)], as well…
Hierarchical matrices approximate a given matrix by a decomposition into low-rank submatrices that can be handled efficiently in factorized form. $\mathcal{H}^2$-matrices refine this representation following the ideas of fast multipole…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
In recent years, 2D human pose estimation has made significant progress on public benchmarks. However, many of these approaches face challenges of less applicability in the industrial community due to the large number of parametric…
The goal of this paper is to study approaches to bridge the gap between first-order and second-order type methods for composite convex programs. Our key observations are: i) Many well-known operator splitting methods, such as…
We compute the weight 2 cohomology of the Feynman transforms of the cyclic (co)operads $\mathsf{BV}$ and $\mathsf{HyCom}$, and the top$-2$ weight cohomology of the Feynman transforms of $D\mathsf{BV}$ and $\mathsf{Grav}$. Using a result of…