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Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing…
Several publications are concerned with learning inverse kinematics, however, their evaluation is often limited and none of the proposed methods is of practical relevance for rigid-body kinematics with a known forward model. We argue that…
Exploring the bridge between historical and future motion behaviors remains a central challenge in human motion prediction. While most existing methods incorporate a reconstruction task as an auxiliary task into the decoder, thereby…
Recovering whole-body mesh by inferring the abstract pose and shape parameters from visual content can obtain 3D bodies with realistic structures. However, the inferring process is highly non-linear and suffers from image-mesh misalignment,…
In this paper we study the inference of the kinetic Ising model on sparse graphs by the decimation method. The decimation method, which was first proposed in [Phys. Rev. Lett. 112, 070603] for the static inverse Ising problem, tries to…
We consider efficient methods for computing solutions to and estimating uncertainties in dynamic inverse problems, where the parameters of interest may change during the measurement procedure. Compared to static inverse problems,…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
Traditional low-rank approximation is a powerful tool to compress the huge data matrices that arise in simulations of partial differential equations (PDE), but suffers from high computational cost and requires several passes over the PDE…
In this paper, we introduce a novel semi-analytical method for solving a broad class of initial value problems involving differential, integro-differential, and delay equations, including those with fractional and variable-order…
We present a simple yet powerful framework for solving inverse problems by leveraging automatic differentiation. Our method is broadly applicable whenever a smooth cost function can be defined near the true solution, and a numerical…
Kinetic transport models are mesoscopic mathematical descriptions of the transport of particles as well as their interactions with the background media or among themselves, and they have wide applications in many areas of mathematical…
This paper presents an inverse kinematic optimization layer (IKOL) for 3D human pose and shape estimation that leverages the strength of both optimization- and regression-based methods within an end-to-end framework. IKOL involves a…
Robots are strongly expected as a means of replacing human tasks. If a robot has a human-like physicality, the possibility of replacing human tasks increases. In the case of household service robots, it is desirable for them to be on a…
This study aimed to develop a virtual sensing algorithm of structural vibration for the real-time identification of unmeasured information. First, certain local point vibration responses (such as displacement and acceleration) are measured…
A Hamiltonian decomposition of a regular graph is a partition of its edge set into Hamiltonian cycles. The problem of finding edge-disjoint Hamiltonian cycles in a given regular graph has many applications in combinatorial optimization and…
The spatial photonic Ising machine has achieved remarkable advancements in solving combinatorial optimization problems. However, it still remains a huge challenge to flexibly mapping an arbitrary problem to Ising model. In this paper, we…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…
We introduce PLIKS (Pseudo-Linear Inverse Kinematic Solver) for reconstruction of a 3D mesh of the human body from a single 2D image. Current techniques directly regress the shape, pose, and translation of a parametric model from an input…
Automating the derivation of published results is a challenge, in part due to the informal use of mathematics by physicists, compared to that of mathematicians. Following demand, we describe a method for converting informal hand-written…
ERIK is an expressive inverse kinematics technique that has been previously presented and evaluated both algorithmically and in a limited user-interaction scenario. It allows autonomous social robots to convey posture-based expressive…