Related papers: HIPED: Machine Learning Framework for Spherical To…

This paper presents a unified decision-making framework that integrates Hybrid Markov Decision Processes (HMDPs) with Model Predictive Control (MPC), augmented by velocity-dependent safety margins and a prediction-aware hysteresis…

Deep neural networks often rely on spurious features to make predictions, which makes them brittle under distribution shift and on samples where the spurious correlation does not hold (e.g., minority-group examples). Recent studies have…

This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…

3D occupancy prediction aims to infer dense, voxel-wise scene semantics from sensor observations, where the 2D-to-3D view transformation serves as a crucial step in bridging image features and volumetric representations. Most previous…

Accurate classification of sleep disorders, particularly insomnia and sleep apnea, is important for reducing long term health risks and improving patient quality of life. However, clinical sleep studies are resource intensive and are…

Expectation Propagation (EP)-based Multiple-Input Multiple-Output (MIMO) detector is regarded as a state-of-the-art MIMO detector because of its exceptional performance. However, we find that the EP MIMO detector cannot guarantee to achieve…

Despite their promise, fair machine learning methods often yield Pareto-inefficient models, in which the performance of certain groups can be improved without degrading that of others. This issue arises frequently in traditional…

In some conditions, I-mode plasmas can feature pedestal relaxation events (PREs) that transiently enhance the energy reaching the divertor target plates. To shed light into their appearance, characteristics and energy reaching the divertor…

In this work we review the coarse-to-fine spatial feature pyramid concept, which is used in state-of-the-art optical flow estimation networks to make exploration of the pixel flow search space computationally tractable and efficient. Within…

Topological data analysis (TDA) is gaining prominence across a wide spectrum of machine learning tasks that spans from manifold learning to graph classification. A pivotal technique within TDA is persistent homology (PH), which furnishes an…

Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…

Machine learning algorithms often struggle to control complex real-world systems. In the case of nuclear fusion, these challenges are exacerbated, as the dynamics are notoriously complex, data is poor, hardware is subject to failures, and…

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…

The path of tokamak fusion and ITER is maintaining high-performance plasma to produce sufficient fusion power. This effort is hindered by the transient energy burst arising from the instabilities at the boundary of high-confinement plasmas.…

A new method, based on Bayesian analysis, is presented which unifies the inference of plasma equilibria parameters in a Tokamak with the ability to quantify differences between inferred equilibria and Grad-Shafranov force-balance solutions.…

Microtearing modes (MTMs) are unstable in the shallow gradient region just inside the top of the pedestal in the spherical tokamak experiment MAST, and may play an important role in the pedestal evolution. The linear properties of these…

Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…

Scalability is one of the major issues for real-world Vehicle-to-Vehicle network realization. To tackle this challenge, a stochastic hybrid modeling framework based on a non-parametric Bayesian inference method, i.e., hierarchical Dirichlet…

Transformer-based detectors have advanced small-object detection, but they often remain inefficient and vulnerable to background-induced query noise, which motivates deep decoders to refine low-quality queries. We present HELP…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…