相关论文: Lagrangian Reachtubes: The Next Generation

RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…

In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in environments with adverse gravity conditions and challenging…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

Lagrangian Neural Networks (LNNs) present a principled and interpretable framework for learning the system dynamics by utilizing inductive biases. While traditional dynamics models struggle with compounding errors over long horizons, LNNs…

We introduce a new form of Lagrangian and propose a simple first-order algorithm for nonconvex optimization with nonlinear equality constraints. We show the algorithm generates bounded dual iterates, and establish the convergence to KKT…

In this paper, we present a data-driven framework for real-time estimation of reachable sets for control systems where the plant is modeled using neural networks (NNs). We utilize a running example of a quadrotor model that is learned using…

A wide range of physical phenomena exhibit auxiliary admissibility criteria, such as conservation of entropy or various energies, which arise implicitly under exact solution of their governing PDEs. However, standard temporal schemes, such…

Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the…

Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial…

Reachable set computation is an important technique for the verification of safety properties of dynamical systems. In this paper, we investigate reachable set computation for discrete nonlinear systems based on parallelotope bundles. The…

Existing intelligent sports analysis systems mainly focus on "scoring and visualization," often lacking automatic performance diagnosis and interpretable training guidance. Recent advances in Large Language Models (LLMs) and motion analysis…

Reservoir computers (RCs) are powerful machine learning architectures for time series prediction. Recently, next generation reservoir computers (NGRCs) have been introduced, offering distinct advantages over RCs, such as reduced…

The Lagrange mesh method is a very accurate and simple procedure to compute eigenvalues and eigenfunctions of nonrelativistic and semirelativistic Hamiltonians. We show here that it can be used successfully to solve the equations of both…

A residual-based lubrication method is used in this paper to find the flow rate and pressure field in converging-diverging rigid tubes for the flow of time-independent category of non-Newtonian fluids. Five converging-diverging prototype…

Visualization plays an important role in analyzing and exploring time series data. To facilitate efficient visualization of large datasets, downsampling has emerged as a well-established approach. This work concentrates on LTTB…

The discovery of new ionizable lipids for efficient lipid nanoparticle (LNP)-mediated RNA delivery remains a critical bottleneck for RNA-based therapeutics development. Recent advances have highlighted the potential of machine learning (ML)…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

We present a method to over-approximate reachable tubes over compact time-intervals, for linear continuous-time, time-varying control systems whose initial states and inputs are subject to compact convex uncertainty. The method uses…

In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…

Metapopulation models are powerful tools for capturing the spatio-temporal spread of infectious diseases. Models that explicitly account for traveler origins and destinations, such as Lagrangian metapopulation models, enable a detailed…