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We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
The interaction decoder utilized in prevalent Transformer-based HOI detectors typically accepts pre-composed human-object pairs as inputs. Though achieving remarkable performance, such paradigm lacks feasibility and cannot explore novel…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
This paper presents COSMIC (Connectivity-Oriented Sensing Method for Imaging and Communication), an innovative waveform design framework that integrates environmental radio imaging with robust communication capabilities. COSMIC introduces…
Non-orthogonal multiple access (NOMA) is a promising radio access technique for next-generation wireless networks. In this article, we investigate the NOMA-based cooperative relay network. We begin with an introduction of the existing…
In this work we propose a novel approach to solve the Schr\"{o}dinger equation which combines projection onto the ground state with a path-filtering truncation scheme. The resulting projector configuration interaction (PCI) approach…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
Over the course of the past few decades, the field of computational chemistry has managed to manifest itself as a key complement to more traditional lab-oriented chemistry. This is particularly true in the wake of the recent renaissance of…
We present an extension of the spin-adapted configuration-interaction method for the computation of four electrons in a quasi two-dimensional quantum dot. By a group-theoretical decomposition of the basis set and working with relative and…
Recent theoretical and experimental works on carbon nanotubes (CNTs) have revealed that spin-orbit interaction (SOI) is more robust than it was thought. Motivated by this, we investigate the SOI in helically coiled CNTs. Calculations are…
We present a fully variational locally scaled self-interaction corrected (SIC) energy functional using complex optimal orbitals. This represents an important milestone for fully variational SIC energy functionals, which have been shown to…
For classical discrete systems under constant composition, canonical average provides equilibrium configuration from a set of many-body interactions, which typically acts as nonlinear map. The nonlinearity has recently been investigated in…
We present the formulation and implementation of the Integral-Screened Configuration-Interaction method (ISCI). The ISCI is a minimal-operational count integral-driven direct Configuration-Interaction (CI) method with a simple and rigorous…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
In the present letter, it is demonstrated how full configuration interaction (FCI) results in extended basis sets may be obtained to within sub-kJ/mol accuracy by decomposing the energy in terms of many-body expansions in the virtual…
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in…
This chapter summarizes the recent progress in the theory and analytical tools of quadratic optomechanical interactions, as one of the prominent domains of contemporary nonlinear quantum optics. Emphasis has been put here first to show what…
Higher-order topological insulators (HOTI) are a novel topological phase beyond the framework of the conventional bulk-boundary correspondence. In these peculiar systems, the topologically nontrivial boundary modes are characterized by a…