相关论文: Minimum Jerk Trajectory Generation for Straight an…
We provide a spectrum of new theoretical insights and practical results for finding a Minimum Dilation Triangulation (MDT), a natural geometric optimization problem of considerable previous attention: Given a set $P$ of $n$ points in the…
Modelling realistic human behaviours in simulation is an ongoing challenge that resides between several fields like social sciences, philosophy, and artificial intelligence. Human movement is a special type of behaviour driven by intent…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
Conditional human motion generation is an important topic with many applications in virtual reality, gaming, and robotics. While prior works have focused on generating motion guided by text, music, or scenes, these typically result in…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
Motion generation from discrete quantization offers many advantages over continuous regression, but at the cost of inevitable approximation errors. Previous methods usually quantize the entire body pose into one code, which not only faces…
In this paper we consider the unconstrained minimization problem of a smooth function in ${\mathbb{R}}^n$ in a setting where only function evaluations are possible. We design a novel randomized derivative-free algorithm --- the stochastic…
In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…
This paper studies the convergence properties of a family of Relaxed $\ell$-Minimal Gradient Descent methods for quadratic optimization; the family includes the omnipresent Steepest Descent method, as well as the Minimal Gradient method.…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
The Dense Trajectories concept is one of the most successful approaches in action recognition, suitable for scenarios involving a significant amount of motion. However, due to noise and background motion, many generated trajectories are…
It has been argued [Tassieri, \textit{Soft Matter}, 2015, \textbf{11}, 5792] that linear microrheology with optical tweezers (MOT) of living systems ``\textit{is not an option}'', because of the wide gap between the observation time…
In a nutshell, stay-points are locations that a person has stopped for some amount of time. Previous work depends mainly on stay-point identification methods using experimentally fine tuned threshold values. These behave well on their…
Minimally entangled typical thermal states (METTS) are a construction that allows one to to solve for the imaginary time evolution of quantum many body systems. By using wave functions that are weakly entangled, one can take advantage of…
The motion of picking up and placing an object in 3D space is full of subtle detail. Typically these motions are formed from the same constraints, optimizing for swiftness, energy efficiency, as well as physiological limits. Yet, even for…
Human motion generation aims to generate natural human pose sequences and shows immense potential for real-world applications. Substantial progress has been made recently in motion data collection technologies and generation methods, laying…
In empirical studies of random walks, continuous trajectories of animals or individuals are usually sampled over a finite number of points in space and time. It is however unclear how this partial observation affects the measured…