相关论文: Minimum Jerk Trajectory Generation for Straight an…

Jerk is the derivative of acceleration with respect to time and then it is the third order derivative of the position vector. Hyperjerks are the n-th order derivatives with n>3. This paper describes the relations, for jerks and hyperjerks,…

Rowmotion is a simple cyclic action on the distributive lattice of order ideals of a poset: it sends the order ideal x to the order ideal generated by the minimal elements not in x. It can also be computed in "slow motion" as a sequence of…

A temporal graph is a graph for which the edge set can change from one time step to the next. This paper considers undirected temporal graphs defined over L time steps and connected at each time step. We study the Shortest Temporal…

Various adaptive abilities are required for robots interacting with humans in daily life. It is difficult to design adaptive algorithms manually; however, by using end-to-end machine learning, labor can be saved during the design process.…

We consider the dynamics of the disordered, one-dimensional, symmetric zero range process in which a particle from an occupied site $k$ hops to its nearest neighbour with a quenched rate $w(k)$. These rates are chosen randomly from the…

Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…

Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far…

Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on…

Slow and accurate finger and limb movements are essential to daily activities, but their neural control and governing mechanics are relatively unexplored. We consider neuromechanical systems where slow movements are produced by neural…

Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…

Many application areas ranging from serious games for health to learning by demonstration in robotics, could benefit from large body movement datasets extracted from textual instructions accompanied by images. The interpretation of…

Trajectory segmentation refers to dividing a trajectory into meaningful consecutive sub-trajectories. This paper focuses on trajectory segmentation for 3D rigid-body motions. Most segmentation approaches in the literature represent the…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

Text-to-motion generation requires not only grounding local actions in language but also seamlessly blending these individual actions to synthesize diverse and realistic global motions. However, existing motion generation methods primarily…

Biological function of living matter is fulfilled by complex motions of biological and soft matter. Unlike general motion is deterministic described by Newton's laws, these motions are mostly random and uncertain for the position in…

Human Video Motion Transfer (HVMT) aims to, given an image of a source person, generate his/her video that imitates the motion of the driving person. Existing methods for HVMT mainly exploit Generative Adversarial Networks (GANs) to perform…

In this paper, we present TMR, a simple yet effective approach for text to 3D human motion retrieval. While previous work has only treated retrieval as a proxy evaluation metric, we tackle it as a standalone task. Our method extends the…

Humans experience small fluctuations in their gait when walking on uneven terrain. The fluctuations deviate from the steady, energy-minimizing pattern for level walking, and have no obvious organization. But humans often look ahead when…

We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…

We consider the motion by curvature of a network of smooth curves with multiple junctions in the plane, that is, the geometric gradient flow associated to the length functional. Such a flow represents the evolution of a two--dimensional…