Related papers: Computer-Assisted Global Analysis for Vibro-Impact…
In this paper, we investigate the problem of embodied multi-agent cooperation, where decentralized agents must cooperate given only egocentric views of the world. To effectively plan in this setting, in contrast to learning world dynamics…
We extend the Local-to-Global-Principle used in the proof of convexity theorems for momentum maps to not necessarily closed maps whose target space carries a convexity structure which need not be based on a metric. Using a new factorization…
The use of learned dynamics models, also known as world models, can improve the sample efficiency of reinforcement learning. Recent work suggests that the underlying causal graphs of such dynamics models are sparsely connected, with each of…
We introduce a computational method to optimize target physical properties in the full configuration space regarding atomic composition, chemical stoichiometry, and crystal structure. The approach combines the universal potential of the…
A flexible scheme for decomposing the vibrational density of states in terms of pair vibrational density of states is presented. This scheme provides the linkage between the site vibrational density of states and pair vibrational density of…
In this paper we obtain the global dynamics and phase portraits of quadratic and cubic quasi-homogeneous but non-homogeneous systems. We first prove that all planar quadratic and cubic quasi-homogeneous but non-homogeneous polynomial…
Separated graphs provide a powerful combinatorial tool for approximating dynamical systems. This paper details the explicit construction of Bratteli-like separated graphs -- a generalization of classical Bratteli diagrams -- that encode the…
We employ a novel computational modeling framework to perform high-fidelity direct numerical simulations of aero-structural interactions in bat-inspired membrane wings. The wing of a bat consists of an elastic membrane supported by a highly…
We describe a reverse integration approach for the exploration of low-dimensional effective potential landscapes. Coarse reverse integration initialized on a ring of coarse states enables efficient "navigation" on the landscape terrain:…
Smoothed analysis is a framework suggested for mediating gaps between worst-case and average-case complexities. In a recent work, Dinitz et al.~[Distributed Computing, 2018] suggested to use smoothed analysis in order to study dynamic…
Learning shared structure across environments facilitates rapid learning and adaptive behavior in neural systems. This has been widely demonstrated and applied in machine learning to train models that are capable of generalizing to novel…
Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…
We present a comprehensive phase-space treatment of the motion of charged particles in electrodynamic traps. Focusing on five-wire surface-electrode Paul traps, we study the details of integrable and chaotic motion of a single ion. We…
Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
The important phenomenon of "stickiness" of chaotic orbits in low dimensional dynamical systems has been investigated for several decades, in view of its applications to various areas of physics, such as classical and statistical mechanics,…
The reduced dynamics of an open quantum system obtained from an underlying microscopic Hamiltonian can in general only approximately be described by a time local master equation. The quality of that approximation depends primarily on the…
We generalize the technique of smoothed analysis to distributed algorithms in dynamic network models. Whereas standard smoothed analysis studies the impact of small random perturbations of input values on algorithm performance metrics,…
This paper examines the dynamics of a vibro-impact nonlinear energy sink (VI-NES) using a generalized impact map approach. The study incorporates asymmetry and dry friction, reflecting realistic conditions. The proposed method identifies…