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We propose a framework for robust and efficient training of Dense Object Nets (DON) with a focus on multi-object robot manipulation scenarios. DON is a popular approach to obtain dense, view-invariant object descriptors, which can be used…
This paper presents an experimental validation of decentralized affine transformation (AT) in multi-agent systems using teams of mini-quadcopters. The AT framework enables an agent team to safely navigate constrained, obstacle-rich…
In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based structure and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom…
In \emph{Guo et al, arXiv:2005.08288}, we propose a decoupled form of the structure-preserving doubling algorithm (dSDA). The method decouples the original two to four coupled recursions, enabling it to solve large-scale algebraic Riccati…
We introduce real-time density matrix embedding theory (DMET), a dynamical quantum embedding theory for computing non-equilibrium electron dynamics in strongly correlated systems. As in the previously developed static DMET, real-time DMET…
This paper presents a general and robust method for the fluid-structure interaction of membranes and shells undergoing large displacement and large added-mass effects by coupling an immersed-boundary method with a shell finite-element…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…
Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…
This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to explicit system models. Each agent independently learns its…
In contact mechanics computation, the constraint conditions on the contact surfaces are typically enforced by the Lagrange multiplier method, resulting in a saddle point system. The mortar finite element method is usually employed to…
An external drive can improve the coherence of a quantum many-body system by averaging out noise sources. It can also be used to realize models that are inaccessible in the static limit, through Floquet Hamiltonian engineering. The full…
We present a framework for investigating the response of conformally-invariant confined 1+1-dimensional systems to a quantum quench. While conformal invariance is generally destroyed in a global quantum quench, systems that can be described…
The development of polynomial cost solvers for correlated quantum impurity models, with controllable errors, is a central challenge in quantum many-body physics, where these models find applications ranging from nano-science to the…
The dynamics of many atomic systems is controlled by activated events taking place on a time scale which is long compared to that associated with thermal vibrations. This often places problems of interest outside the range of standard…
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…
Metriplectic dynamics couple a Poisson bracket of the Hamiltonian description with a kind of metric bracket, for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
Multiple Object Tracking (MOT) plays an important role in solving many fundamental problems in video analysis in computer vision. Most MOT methods employ two steps: Object Detection and Data Association. The first step detects objects of…
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…
The loss of coherence is one of the main obstacles for the implementation of quantum information processing. The efficiency of dynamical decoupling schemes, which have been introduced to address this problem, is limited itself by the…