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Nearly all autonomous robotic systems use some form of motion planning to compute reference motions through their environment. An increasing use of autonomous robots in a broad range of applications creates a need for efficient, general…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from…
A novel approach is being developed to introduce a parallel asynchronous implementation of non-intrusive global-local coupling. This study examines scenarios involving numerous patches, including those covering the entire structure. By…
The possibility of using spin connection components as basic quantization variables of a conformal version of General Relativity is studied. The considered model contains gravitational degrees of freedom and a scalar dilaton field. The…
Multireader shared registers are basic objects used as communication medium in asynchronous concurrent computation. We propose a surprisingly simple and natural scheme to obtain several wait-free constructions of bounded 1-writer…
Room acoustic synthesis can be used in Virtual Reality (VR), Augmented Reality (AR) and gaming applications to enhance listeners' sense of immersion, realism and externalisation. A common approach is to use Geometrical Acoustics (GA) models…
We develop a generic spacetime model in General Relativity which can be used to build any gravitational model within General Relativity. The generic model uses two types of assumptions: (a) Geometric assumptions additional to the inherent…
Failure times of a machinery cannot always be assumed independent and identically distributed, e.g. if after reparations the machinery is not restored to a same-as-new condition. Framed within the renewal processes approach, a…
Multi-center positron emission tomography (PET) image synthesis aims at recovering low-dose PET images from multiple different centers. The generalizability of existing methods can still be suboptimal for a multi-center study due to domain…
2-in-1 design (Chen et al. 2018) is becoming popular in oncology drug development, with the flexibility of using different endpoints at different decision time. Based on the observed interim data, sponsors choose either to seamlessly…
This article proposes a new layered model to represent the spectrum assignment on flexible-grid optical networks. This model can reduce the time-complexity of existing routing and spectrum assignment methods by providing a data structure…
Learning the distribution of data on Riemannian manifolds is crucial for modeling data from non-Euclidean space, which is required by many applications in diverse scientific fields. Yet, existing generative models on manifolds suffer from…
We study the problem of determining whether a given temporal specification can be implemented by a symmetric system, i.e., a system composed from identical components. Symmetry is an important goal in the design of distributed systems,…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Hybrid beamforming via large antenna arrays has shown a great potential for increasing data rate in cellular networks by delivering multiple data streams simultaneously. In this paper, several beamforming design algorithms are proposed…
Concurrency has been a subject of study for more than 50 years. Still, many developers struggle to adapt their sequential code to be accessed concurrently. This need has pushed for generic solutions and specific concurrent data structures.…
Reconfigurable intelligent surface (RIS) is an emerging paradigm able to control the propagation environment in wireless systems. Most of the research on RIS has been dedicated to system optimization and, with the advent of beyond diagonal…
We present a novel access protocol for crowd scenarios in massive MIMO (Multiple-input multiple-output) systems. Crowd scenarios are characterized by a large number of users with intermittent access behavior, whereby orthogonal scheduling…
In this article an anisotropic interaction model avoiding collisions is proposed. Starting point is a general isotropic interacting particle system, as used for swarming or follower-leader dynamics. An anisotropy is induced by rotation of…