Related papers: Mixed Reality States in a Bidirectionally Coupled …
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid robots. However, connections between templates and whole-body…
Theoretical methods for empirical state determination of entangled two-level systems are analyzed in relation to information theory. We show that hidden variable theories would lead to a Shannon index of correlation between the entangled…
We present a real-time system that enables bidirectional human-AI learning and teaching in a balancing task that is a realistic analogue of disorientation during piloting and spaceflight. A human subject and autonomous AI model of choice…
The presence of physical systems whose characteristics change in a seemingly erratic manner gives rise to the study of chaotic systems. The characteristics of these systems are due to their hypersensitivity to changes in initial conditions.…
Quantum correlation of bipartite states (beyond entanglement) in presence of environment is studied for Heisenberg XYZ spin system. It is shown that if the system is allowed to exchange energy with environment, the initial state evolves and…
Research in user interaction with mixed reality environments using multiple displays has become increasingly relevant with the prevalence of mobile devices in everyday life and increased commoditization of large display area technologies…
This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the…
Transitions between the quantum Hall state and the Anderson insulator are studied in a two dimensional tight binding model with a uniform magnetic field and a random potential. By the string (anyon) gauge, the weak magnetic field regime is…
The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between…
We have designed, built and operated a physical pendulum which allows one to demonstrate experimentally the behaviour of the pendulum under any equation of motion for such a device for any initial conditions. All parameters in the equation…
A set of stacked two-dimensional electron systems in a perpendicular magnetic field exhibits a three-dimensional version of the quantum Hall effect if interlayer tunneling is not too strong. When such a sample is in a quantum Hall plateau,…
We present a new mechanism for long-range entanglement (LRE) in strongly symmetric many-body mixed states that does not rely on symmetry anomalies or long-range correlations. Our primary example is the maximally mixed state in the…
Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…
A long-standing goal of the research community is to develop highly interactive LLM-based dialogue agents. Recent research focuses on optimizing policies based on fixed offline logs (Static Context RL) or using a prompt-based simulator…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
Entanglement is one of the most fascinating features arising from quantum-mechanics and of great importance for quantum information science. Of particular interest are so-called hybrid-entangled states which have the intriguing property…
This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…
The question of the number of thermodynamic states present in the low-temperature phase of the three-dimensional Edwards-Anderson Ising spin glass is addressed by studying spin and link overlap distributions using population annealing Monte…
We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human…