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We propose two schemes to generate entanglement between a pair of mechanical oscillators using parametric amplification. In contrast to existing parametric drive-based protocols, both schemes operate in the steady-state. Using a detuned…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Audio is indispensable for real-world video, yet generation models have largely overlooked audio components. Current approaches to producing audio-visual content often rely on cascaded pipelines, which increase cost, accumulate errors, and…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Classical approaches like process algebras or labelled transition systems deal with static composition to model non-trivial concurrent or distributed systems; this is not sufficient for systems with dynamic architecture and with variable…
Understanding how humans control unstable systems is central to many research problems, with applications ranging from quiet standing to aircraft landing. Increasingly much evidence appears in favor of event-driven control hypothesis: human…
This paper describes the current implementation of the dynamic articulatory model DYNARTmo, which generates continuous articulator movements based on the concept of speech gestures and a corresponding gesture score. The model provides a…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Recent deep learning approaches have achieved impressive performance on visual sound separation tasks. However, these approaches are mostly built on appearance and optical flow like motion feature representations, which exhibit limited…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
Audio-driven talking-head generation has advanced rapidly with diffusion-based generative models, yet producing temporally coherent videos with fine-grained motion control remains challenging. We propose DEMO, a flow-matching generative…
Recent progress in 3D hand--object interaction (HOI) generation has primarily focused on single--hand grasp synthesis, while bimanual manipulation remains significantly more challenging. Long--horizon planning instability, fine--grained…
The relation between a structure and the function running on that structure is of central interest in many fields, including computer science, biology (organ vs. function), psychology (body vs. mind), architecture (designs vs.…
Modal synthesis is an important area of physical modeling whose exploration in the past has been held back by a large number of control parameters, the scarcity of general-purpose design tools and the difficulty of obtaining the…
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…
Robot musicians require precise control to obtain proper note accuracy, sound quality, and musical expression. Performance of string instruments, such as violin and cello, presents a significant challenge due to the precise control required…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
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…
This paper presents developments in the technology underlying the cyclotactor, a finger-based tactile I/O device for musical interaction. These include significant improvements both in the basic characteristics of tactile interaction and in…