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

Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…

In this study, we propose parameter-varying neural ordinary differential equations (NODEs) where the evolution of model parameters is represented by partition-of-unity networks (POUNets), a mixture of experts architecture. The proposed…

Given an energy-dissipating port-Hamiltonian system, we characterise the exponential decay of the energy via the model ingredients under mild conditions on the Hamiltonian density $\mathcal{H}$. In passing, we obtain generalisations for…

With view to applications, we here give an explicit correspondence between the following two: (i) the set of symmetric and positive measures $\rho$ on one hand, and (ii) a certain family of generalized Markov transition measures $P$, with…

Lifting-based 3D human pose estimation infers 3D joints from 2D keypoints but generalizes poorly because $(x,y)$ coordinates alone are an ill-posed, sparse representation that discards geometric information modern foundation models can…

In this paper we discourse basises of representable algebras. This question lead to arithmetic problems. We prove algorithmical solvability of exponential-Diophantine equations in rings represented by matrices over fields of positive…

We study the inverse problem of recovering the spatial support of parameter variations in a system of partial differential equations (PDEs) from boundary measurements. A reconstruction method is developed based on the monotonicity…

Solution of Ordinary Differential Equation (ODE) model of dynamical system may not agree with its observed values. Often this discrepancy can be attributed to unmodeled forcings in the evolution rule of the dynamical system. In this…

Developing generalizable robot policies that can robustly handle varied environmental conditions and object instances remains a fundamental challenge in robot learning. While considerable efforts have focused on collecting large robot…

Hamiltonian matrices appear in a variety or problems in physics and engineering, mostly related to the time evolution of linear dynamical systems as for instance in ion beam optics. The time evolution is given by symplectic transfer…

Simplifying complex 3D meshes is a crucial step in robotics applications to enable efficient motion planning and physics simulation. Common methods, such as approximate convex decomposition, represent a mesh as a collection of simple parts,…

We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for…

The hook length formula for $d$-complete posets expresses the number of linear extensions of a $d$-complete poset $P$ in terms of hooks of $P$. It generalizes the usual hook length formula for standard Young tableaux, as well as hook length…

Monotone optimisation problems admit specialised global solvers such as the Polyblock Outer Approximation (POA) algorithm, but these methods typically require explicit objective and constraint functions. In many applications, these…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…

Physical processes evolving in both time and space are often modeled using Partial Differential Equations (PDEs). Recently, it has been shown how stability analysis and control of coupled PDEs in a single spatial variable can be more…

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…