Related papers: Higher Order Continuity for Smooth As-Rigid-As-Pos…
The active flux (AF) method is a compact high-order finite volume method originally proposed for solving hyperbolic conservation laws, in which cell averages and point values at cell interfaces are evolved simultaneously. This paper…
In this work, we develop new optimization algorithms that use approximate second-order information combined with the gradient regularization technique to achieve fast global convergence rates for both convex and non-convex objectives. The…
In this work we construct a low-order nonconforming approximation method for linear elasticity problems supporting general meshes and valid in two and three space dimensions. The method is obtained by hacking the Hybrid High-Order method,…
Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact without penetration), and dynamic stability (secure…
Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Stochastic nonconvex minimax problems have attracted wide attention in machine learning, signal processing and many other fields in recent years. In this paper, we propose an accelerated first-order regularized momentum descent ascent…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches…
The goal of this paper is to reduce the total complexity of gradient-based methods for two classes of problems: affine-constrained composite convex optimization and bilinear saddle-point structured non-smooth convex optimization. Our…
Piecewise smooth maps are known to exhibit a wide range of dynamical features including numerous types of periodic orbits. Predicting regions in parameter space where such periodic orbits might occur and determining their stability is…
Multiply connected freeform surface features are widely encountered in industrial components, where toolpath generation often suffers from discontinuities, sharp turns, non-uniform scallop heights, and incomplete boundary coverage. This…
This paper proposes an improved design of the perceptron unit to mitigate the vanishing gradient problem. This nuisance appears when training deep multilayer perceptron networks with bounded activation functions. The new neuron design,…
Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…
We consider the problem of the implementation of Stimulated Raman Adiabatic Passage (STIRAP) processes in degenerate systems, with a view to be able to steer the system wave function from an arbitrary initial superposition to an arbitrary…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
The computational modeling of many engineering problems using the Finite Element method involves the modeling of two or more bodies that meet through an interface. The interface can be physical, as in multi-physics and contact problems, or…
Higher-Order Hypergraph Learning (HOHL) was recently introduced as a principled alternative to classical hypergraph regularization, enforcing higher-order smoothness via powers of multiscale Laplacians induced by the hypergraph structure.…
Non-rigid registration is challenging because it is ill-posed with high degrees of freedom and is thus sensitive to noise and outliers. We propose a robust non-rigid registration method using reweighted sparsities on position and…