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Blockchains implement decentralized monetary systems and applications. Recent advancements enable what we call tethering a blockchain to a primary blockchain, securing the tethered chain by nodes that post primary-chain tokens as…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynamics can distort certain sensor attacks,…
Learning procedural-aware video representations is a key step towards building agents that can reason about and execute complex tasks. Existing methods typically address this problem by aligning visual content with textual descriptions at…
Training a generative model on a single human skeletal motion sequence without being bound to a specific kinematic tree has drawn significant attention from the animation community. Unlike text-to-motion generation, single-shot models allow…
In this work, we investigate an important task named instruction-following text embedding, which generates dynamic text embeddings that adapt to user instructions, highlighting specific attributes of text. Despite recent advancements,…
The framework of Modern Theory of Critical State Transitions considers the relation between different levels of organization in complex systems in terms of Critical State Transitions. A State Transition between levels entails changes of…
We propose the Medial Skeletal Diagram, a novel skeletal representation that tackles the prevailing issues around skeleton sparsity and reconstruction accuracy in existing skeletal representations. Our approach augments the continuous…
The rapid evolution of blockchain technology has brought together stakeholders from fundamentally different backgrounds. The result is a diverse ecosystem, as exemplified by the development of a wide range of different blockchain protocols.…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
Recent advances in dance generation have enabled the automatic synthesis of 3D dance motions. However, existing methods still face significant challenges in simultaneously achieving high realism, precise dance-music synchronization, diverse…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
In this work we develop arbitrary-order Discontinuous Skeletal Gradient Discretisations (DSGD) on general polytopal meshes. Discontinuous Skeletal refers to the fact that the globally coupled unknowns are broken polynomial on the mesh…
Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions. Unfortunately, global stability guarantees are hard to provide in dynamical systems learned from data,…
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frameworks requires considering the capabilities and limitations…
In this article, we investigate the solvability of $k$-set agreement among $n$ processes in distributed systems prone to different types of process failures. Specifically, we explore two scenarios: synchronous message-passing systems prone…
Group dance, a sub-genre characterized by intricate motions made by a cohort of performers in tight synchronization, has a longstanding and culturally significant history and, in modern forms such as cheerleading, a broad base of current…
Distributed gradient descent (DGD) is an efficient way of implementing gradient descent (GD), especially for large data sets, by dividing the computation tasks into smaller subtasks and assigning to different computing servers (CSs) to be…
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…
We present a framework for the distributed monitoring of networks of components that coordinate by message-passing, following multiparty session protocols specified as global types. We improve over prior works by (i) supporting components…
Stepwise inference protocols, such as scratchpads and chain-of-thought, help language models solve complex problems by decomposing them into a sequence of simpler subproblems. Despite the significant gain in performance achieved via these…