相关论文: Geometric interpretation of the general POE model …

Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…

Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…

The standard techniques for online learning of combinatorial objects perform multiplicative updates followed by projections into the convex hull of all the objects. However, this methodology can be expensive if the convex hull contains many…

Accurate exploration of protein conformational ensembles is essential for uncovering function but remains hard because molecular-dynamics (MD) simulations suffer from high computational costs and energy-barrier trapping. This paper presents…

The conventional toy-model constructions of phase diagrams often use various versions of the standard Hermitian Bose-Hubbard Hamiltonians $H$. These studies were recently extended to cover several non-Hermitian PT-symmetric versions of the…

We represent an integration algorithm combining the characteristics method and Hopf-Cole transformation. This algorithm allows one to partially integrate a large class of multidimensional systems of nonlinear Partial Differential Equations…

This paper presents a novel theoretical framework for reducing the computational complexity of multi-model adaptive control/estimation systems through systematic transformation to controllable canonical form. While traditional multi-model…

Robust WiFi-based human pose estimation (HPE) is a challenging task that bridges discrete and subtle WiFi signals to human skeletons. We revisit this problem and reveal two critical yet overlooked issues: 1) cross-domain gap, i.e., due to…

We consider the normal matrix model with a cubic potential. The model is ill-defined, and in order to reguralize it, Elbau and Felder introduced a model with a cut-off and corresponding system of orthogonal polynomials with respect to a…

To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…

This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…

Materials with heterogeneous structures exhibit complex physical processes such as delamination, cracks, and plasticity, which require micromechanical parameters for understanding. However, identifying these parameters is challenging due to…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

Recently, Mixture-of-Experts (short as MoE) architecture has achieved remarkable success in increasing the model capacity of large-scale language models. However, MoE requires incorporating significantly more parameters than the base model…

We propose a parameter-minimal neural architecture for solving differential equations by restricting the hypothesis class to Horner-factorized polynomials, yielding an implicit, differentiable trial solution with only a small set of…

Estimating 3D human pose from a single image is a challenging task. This work attempts to address the uncertainty of lifting the detected 2D joints to the 3D space by introducing an intermediate state-Part-Centric Heatmap Triplets…

In this work, we present an approach for the efficient treatment of parametrized geometries in the context of POD-Galerkin reduced order methods based on Finite Volume full order approximations. On the contrary to what is normally done in…

The numerical approximation of solutions of parametric or stochastic hyperbolic PDEs is still a serious challenge. Because of shock singularities, most methods from the elliptic and parabolic regime, such as reduced basis methods, POD or…

An exact analytical diagonalization is used to solve the two dimensional Extended Hubbard Model for system with finite size. We have considered an Extended Hubbard Model (EHM) including on-site and off-site interactions with interaction…

We provide fundamental results on positive solutions to parametrized systems of generalized polynomial $\textit{inequalities}$ (with real exponents and positive parameters), including generalized polynomial $\textit{equations}$. In doing…