Related papers: Higher Order Continuity for Smooth As-Rigid-As-Pos…
We present MeshODE, a scalable and robust framework for pairwise CAD model deformation without prespecified correspondences. Given a pair of shapes, our framework provides a novel shape feature-preserving mapping function that continuously…
High-order implicit shock tracking (fitting) is a class of high-order, optimization-based numerical methods to approximate solutions of conservation laws with non-smooth features by aligning elements of the computational mesh with…
It is well known that finding a global optimum is extremely challenging for nonconvex optimization. There are some recent efforts \cite{anandkumar2016efficient, cartis2018second, cartis2020sharp, chen2019high} regarding the optimization…
We propose an accelerated forward-backward method with fast convergence rate for finding a minimizer of a decomposable nonsmooth convex function over a closed convex set, and name it smoothing accelerated proximal gradient (SAPG) algorithm.…
We consider shape optimization problems subject to elliptic partial differential equations. In the context of the finite element method, the geometry to be optimized is represented by the computational mesh, and the optimization proceeds by…
We consider the problem of optimizing the sum of a smooth convex function and a non-smooth convex function via the inexact accelerated proximal gradient (APG) method. A key limitation of existing inexact APG methods is their reliance on…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
The empirical success of Reinforcement Learning (RL) in the setting of contact-rich manipulation leaves much to be understood from a model-based perspective, where the key difficulties are often attributed to (i) the explosion of contact…
In this paper, we study a nonconvex continuous relaxation of MAP inference in discrete Markov random fields (MRFs). We show that for arbitrary MRFs, this relaxation is tight, and a discrete stationary point of it can be easily reached by a…
Sharpness-Aware Minimization (SAM) improves model generalization but doubles the computational cost of Stochastic Gradient Descent (SGD) by requiring twice the gradient calculations per optimization step. To mitigate this, we propose…
Amorphous materials of homogeneous structures usually suffer from nonuniform deformation under shear, which can develop into shear localization and eventually destructive shear band. One approach to tackle this issue is to introduce an…
We identify the restricted class of attainable effective deformations in a model of reinforced composites with parallel, long, and fully rigid fibers embedded in an elastic body. In mathematical terms, we characterize the weak limits of…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Deep Reinforcement Learning (DRL) has achieved remarkable success, ranging from complex computer games to real-world applications, showing the potential for intelligent agents capable of learning in dynamic environments. However, its…
We devise and evaluate numerically a Hybrid High-Order (HHO) method for incremental associative plasticity with small deformations. The HHO method uses as discrete unknowns piecewise polynomials of order $k\ge1$ on the mesh skeleton,…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
We extend Random Access, a fundamental operation that enables efficient search and exploration algorithms, to the modern interactive data systems based on Ranked Retrieval and Similarity Search, where orderings are dynamically defined over…
This paper presents and analyzes a reconfigurable intelligent surface (RIS)-based high-altitude platform (HAP) network. Stochastic geometry is used to model the arbitrary locations of the HAPs and RISs as a homogenous Poisson point process.…
Pick-and-place regrasp is an important manipulation skill for a robot. It helps a robot accomplish tasks that cannot be achieved within a single grasp, due to constraints such as kinematics or collisions between the robot and the…