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Micro-gesture recognition (MGR) targets the identification of subtle and fine-grained human motions and requires accurate modeling of both long-range and local spatiotemporal dependencies. While CNNs are effective at capturing local…
Transfer Optimization is an incipient research area dedicated to solving multiple optimization tasks simultaneously. Among the different approaches that can address this problem effectively, Evolutionary Multitasking resorts to concepts…
Recovering world-coordinate human motion from monocular videos with humanoid robot retargeting is significant for embodied intelligence and robotics. To avoid complex SLAM pipelines or heavy temporal models, we propose a lightweight,…
During the Mars ascent vehicle (MAV) launch missions, when encountering a thrust drop type of propulsion system fault problem, the general trajectory replanning methods relying on step-by-step judgments may fail to make timely decisions,…
Dynamical structures in the circular restricted three-body problem (CR3BP) are fundamental for designing low-energy transfers, as they aid in analyzing phase space transport and designing desirable trajectories. One of these dynamical…
Bundle adjustment (BA) is the problem of refining a visual reconstruction to produce better structure and viewing parameter estimates. This problem is often formulated as a nonlinear least squares problem, where data arises from interest…
The reduced speed of light approximation (RSLA) has been employed to speed up radiative transfer simulations of reionization by a factor of $\gtrsim 5-10$. However, it has been shown to cause significant errors in the HI-ionizing background…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placement sequences that minimize both replanning per object and…
N-body algorithms for long-range unscreened interactions like gravity belong to a class of highly irregular problems whose optimal solution is a challenging task for present-day massively parallel computers. In this paper we describe a…
Existing methods for human mesh recovery mainly focus on single-view frameworks, but they often fail to produce accurate results due to the ill-posed setup. Considering the maturity of the multi-view motion capture system, in this paper, we…
In target tracking with mobile multi-sensor systems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of…
The mini-batch versions of StochAstic Recursive grAdient algoritHm and Semi-Stochastic Gradient Descent method, employed the random Barzilai-Borwein step sizes (shorted as MB-SARAH-RBB and mS2GD-RBB), have surged into prominence through…
Cross-modal alignment is crucial for multimodal representation fusion due to the inherent heterogeneity between modalities. While Transformer-based methods have shown promising results in modeling inter-modal relationships, their quadratic…
Robust topology optimization (RTO) improves the robustness of designs with respect to random sources in real-world structures, yet an accurate sensitivity analysis requires the solution of many systems of equations at each optimization…
Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots.…
Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions…
This paper focuses on finding approximate solutions to stochastic optimal control problems with control domains being not necessarily convex, where the state trajectory is subject to controlled stochastic differential equations. The…
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…
A novel fast multi-impulse optimization method for long-duration perturbed orbit rendezvous is proposed. First, based on the analytically estimated impulses, the terminal rendezvous deviation with precise dynamics model can be predicted.…