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

This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…

This paper describes a problem arising in sea exploration, where the aim is to schedule the expedition of a ship for collecting information about the resources on the seafloor. The aim is to collect data by probing on a set of carefully…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

We study the conformal bootstrap for 3D CFTs with O(N) global symmetry. We obtain rigorous upper bounds on the scaling dimensions of the first O(N) singlet and symmetric tensor operators appearing in the $\phi_i \times \phi_j$ OPE, where…

The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal…

We use the conformal bootstrap to study conformal field theories with $O(N)$ global symmetry in $d=5$ and $d=5.95$ spacetime dimensions that have a scalar operator $\phi_i$ transforming as an $O(N)$ vector. The crossing symmetry of the…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

Deformable parts models show a great potential in tracking by principally addressing non-rigid object deformations and self occlusions, but according to recent benchmarks, they often lag behind the holistic approaches. The reason is that…

We use modern bootstrap techniques to study half-BPS line defects in 4d N=4 superconformal theories. Specifically, we consider the 1d CFT with OSP(4*|4) superconformal symmetry living on such a defect. Our analysis is general and based only…

Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…

This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

An automated algorithm to construct island divertors for stellarators is presented and is used to find divertors that meet heat flux requirements determined by engineering and material limits. The algorithm uses just two initial conditions:…

The basic (and traditional) crossing number problem is to determine the minimum number of crossings in a topological drawing of an input graph in the plane. We develop a unified framework yielding fixed-parameter tractable (FPT) algorithms…

This paper considers planning a path for a single underwater cooperative navigation aid (CNA) vehicle to sequentially aid a set of N agents to minimize average navigation uncertainty. Both the CNA and agents are modeled as constant-velocity…

In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

We apply our previously developed approach to marginal quartic interactions in multiscalar QFTs, which shows that one-loop RG flows can be described in terms of a commutative algebra, to various models in 4d. We show how the algebra can be…

We use analytic bootstrap techniques for a CFT with an interface or a boundary. Exploiting the analytic structure of the bulk and boundary conformal blocks we extract the CFT data. We further constrain the CFT data by applying the equation…