相关论文: Lagrangian Reachtubes: The Next Generation

In this paper we propose an improvement for flowpipe-construction-based reachability analysis techniques for hybrid systems. Such methods apply iterative successor computations to pave the reachable region of the state space by state sets…

This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationally intractable steering between these candidate states.…

The objective of this work is to improve the accuracy of building demand forecasting. This is a more challenging task than grid level forecasting. For the said purpose, we develop a new technique called recurrent transform learning (RTL).…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotational dynamics. Hamilton-Jacobi (HJ) reachability provides…

Coarse-grain Lagrangian methods, such as Dissipative Particle Dynamics ( Hoogerbrugge et al., EPL, 1992), are suitable for describing mesoscopic fluid systems that include thermal fluctuations. However, the realistic simulation of liquids…

A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…

A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…

Retrieval-augmented generation (RAG) augments large language models (LLM) by retrieving relevant knowledge, showing promising potential in mitigating LLM hallucinations and enhancing response quality, thereby facilitating the great adoption…

We formulate the Lagrangian perturbation theory to solve the non-linear dynamics of self-gravitating fluid within the framework of the post-Newtonian approximation in general relativity, using the (3+1) formalism. Our formulation coincides…

We introduce a new method for obtaining quantitative convergence rates for the central limit theorem (CLT) in a high dimensional setting. Using our method, we obtain several new bounds for convergence in transportation distance and entropy,…

Advances in time-resolved Particle Tracking Velocimetry (4D-PTV) techniques have been consistently revealed more accurate Lagrangian particle motions. A novel track initialisation technique as a complementary part of 4D-PTV, based on local…

Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objects as well as grippers in unstructured environments. We…

The rapid advancements in large language models (LLMs) have led to the emergence of routing techniques, which aim to efficiently select the optimal LLM from diverse candidates to tackle specific tasks, optimizing performance while reducing…

The next generation of galaxy surveys like the Dark Energy Spectroscopic Instrument (DESI) and Euclid will provide datasets orders of magnitude larger than anything available to date. Our ability to model nonlinear effects in late time…

We extend an advanced variation of a machine learning algorithm, next-generation reservoir Computing (NGRC), to forecast the dynamics of the Ikeda map of a chaotic laser. The machine learning model is created by observing time-series data…

As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are safe. This paper presents a set of backward reachability…

The main aim of this paper is to develop a new algorithm for computing nonnegative low rank tensor approximation for nonnegative tensors that arise in many multi-dimensional imaging applications. Nonnegativity is one of the important…

Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…

3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices…