相关论文: Lagrangian Reachtubes: The Next Generation

Deep learning has been widely used for inferring robust grasps. Although human-labeled RGB-D datasets were initially used to learn grasp configurations, preparation of this kind of large dataset is expensive. To address this problem, images…

The nonnegative garrote (NNG) is among the first approaches that combine variable selection and shrinkage of regression estimates. When more than the derivation of a predictor is of interest, NNG has some conceptual advantages over the…

The identification and visualization of Lagrangian structures in flows plays a crucial role in the study of dynamic systems and fluid dynamics. The Finite Time Lyapunov Exponent (FTLE) has been widely used for this purpose; however, it only…

Given the ubiquity of multi-task in practical systems, Multi-Task Learning (MTL) has found widespread application across diverse domains. In real-world scenarios, these tasks often have different priorities. For instance, In web search,…

ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…

Linear Time Invariant (LTI) systems are ubiquitous in control applications. Unbounded-time reachability analysis that can cope with industrial-scale models with thousands of variables is needed. To tackle this problem, we use abstract…

This paper presents an efficient nonparametric time domain nonlinear system identification method. It is shown how truncated Volterra series models can be efficiently estimated without the need of long, transient-free measurements. The…

In dynamical systems, it is advantageous to identify regions of flow which can exhibit maximal influence on nearby behaviour. Hyperbolic Lagrangian Coherent Structures have been introduced to obtain two-dimensional surfaces which maximise…

In the static analysis of functional programs, pushdown flow analysis and abstract garbage collection skirt just inside the boundaries of soundness and decidability. Alone, each method reduces analysis times and boosts precision by orders…

Transfer learning aims to make the most of existing pre-trained models to achieve better performance on a new task in limited data scenarios. However, it is unclear which models will perform best on which task, and it is prohibitively…

Parallel test-time scaling (TTS) is a pivotal approach for enhancing large language models (LLMs), typically by sampling multiple token-based chains-of-thought in parallel and aggregating outcomes through voting or search. Recent advances…

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

Low Earth orbit (LEO) mega-constellations greatly extend the coverage and resilience of future wireless systems. Within the mega-constellations, laser inter-satellite links (LISLs) enable high-capacity, long-range connectivity. Existing…

Multimodal large language models (MLLMs) have heterogeneous strengths across OCR, chart understanding, spatial reasoning, visual question answering, cost, and latency. Effective MLLM routing therefore requires more than estimating query…

We analyze large-scale patterns in three-dimensional turbulent convection in a horizontally extended square convection cell by Lagrangian particle trajectories calculated in direct numerical simulations. A simulation run at a Prandtl number…

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

Lagrangian turbulence lies at the core of numerous applied and fundamental problems related to the physics of dispersion and mixing in engineering, bio-fluids, atmosphere, oceans, and astrophysics. Despite exceptional theoretical,…

Motivated by a variety of applications in control engineering and information sciences, we study network resource allocation problems where the goal is to optimally allocate a fixed amount of resource over a network of nodes. In these…

This work proposes and analyzes a new class of numerical integrators for computing low-rank approximations to solutions of matrix differential equation. We combine an explicit Runge-Kutta method with repeated randomized low-rank…