相关论文: Feature-Based Compliance Control for Peg-in-Hole A…

The aim of this study is to analyze the properties of harmonic fields in the vicinity of rough boundaries where either a constant potential or a zero flux is imposed, while a constant field is prescribed at an infinite distance from this…

Autonomous 3D part assembly is a challenging task in the areas of robotics and 3D computer vision. This task aims to assemble individual components into a complete shape without relying on predefined instructions. In this paper, we…

In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…

This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…

This study presents a divide-and-conquer (DC) approach based on feature space decomposition for classification. When large-scale datasets are present, typical approaches usually employed truncated kernel methods on the feature space or DC…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…

Developing a reliable and practical face recognition system is a long-standing goal in computer vision research. Existing literature suggests that pixel-wise face alignment is the key to achieve high-accuracy face recognition. By assuming a…

We propose a general framework for solving inverse self-assembly problems, i.e. designing interactions between elementary units such that they assemble spontaneously into a predetermined structure. Our approach uses patchy particles as…

Space-filling designs are commonly used in computer experiments to fill the space of inputs so that the input-output relationship can be accurately estimated. However, in certain applications such as inverse design or feature-based…

The term "particle-hole symmetry" is beset with conflicting meanings in contemporary physics. Conceived and written from a condensed-matter standpoint, the present paper aims to clarify and sharpen the terminology. In that vein, we propose…

In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…

Structural quantities such as order parameters and correlation functions are often employed to gain insight into the physical behavior and properties of condensed matter systems. While standard quantities for characterizing structure exist,…

Shape control is critical to ensure the quality of composite fuselage assembly. In current practice, the structures are adjusted to the design shape in terms of the $\ell_2$ loss for further assembly without considering the existing…

The recent many-body expanded full configuration interaction (MBE-FCI) method is reviewed by critically assessing its advantages and drawbacks in the context of contemporary near-exact electronic structure theory. Besides providing a…

This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…

Feature embedding learning and feature interaction modeling are two crucial components of deep models for Click-Through Rate (CTR) prediction. Most existing deep CTR models suffer from the following three problems. First, feature…

In our previous papers we have described efficient and reliable methods of generation of representative volume elements (RVE) perfectly suitable for analysis of composite materials via stochastic homogenization. In this paper we profit from…

We propose a new embedding method which is particularly well-suited for settings where the sample size greatly exceeds the ambient dimension. Our technique consists of partitioning the space into simplices and then embedding the data points…

Compositional verification algorithms are well-studied in the context of model checking. Properly selecting components for verification is important for efficiency, yet has received comparatively less attention. In this paper, we address…