相关论文: Navigating through the O(N) archipelago

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Given a set of N points, we have discovered an algorithm that can separate these points from one another by n-dimensional planes. Each point is chosen at random and put into a set S and planes which separate them are determined and put into…

Motivated by applications to critical phenomena and open theoretical questions, we study conformal field theories with $O(m)\times O(n)$ global symmetry in $d=3$ spacetime dimensions. We use both analytic and numerical bootstrap techniques.…

Multiparticle correlators are mathematical objects frequently encountered in quantum field theory and collider physics. By translating multiparticle correlators into the language of graph theory, we can gain new insights into their…

Conformal field theories (CFTs) with cubic global symmetry in 3D are relevant in a variety of condensed matter systems and have been studied extensively with the use of perturbative methods like the $\varepsilon$ expansion. In an earlier…

Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…

Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper,…

This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…

We introduce a general approach for solving partition problems where the goal is to represent a given set as a union (either disjoint or not) of subsets satisfying certain properties. Many NP-hard problems can be naturally stated as such…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

The critical $O(N)$ CFT in spacetime dimensions $2 < d < 4$ is one of the most important examples of a conformal field theory, with the Ising CFT at $N=1$, $2 \leq d < 4$, as a notable special case. Apart from numerous physical…

This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…

The mapping of ocean floor layers is a current challenge for the oil industry. Existing solution methods involve mapping through seismic methods and wave inversion, which are complex and computationally expensive. The introduction of…

We initiate the study of approximation algorithms and computational barriers for constructing sparse $\alpha$-navigable graphs [IX23, DGM+24], a core primitive underlying recent advances in graph-based nearest neighbor search. Given an…

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

We study the conformal bootstrap for systems of correlators involving non-identical operators. The constraints of crossing symmetry and unitarity for such mixed correlators can be phrased in the language of semidefinite programming. We…

For visual tracking, an ideal filter learned by the correlation filter (CF) method should take both discrimination and reliability information. However, existing attempts usually focus on the former one while pay less attention to…