相关论文: Kinodynamic FMT* with Dimensionality Reduction Heu…

We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…

This paper offers a novel mathematical approach, the modified Fractional-order Steepest Descent Method (FSDM) for training BackPropagation Neural Networks (BPNNs); this differs from the majority of the previous approaches and as such. A…

Motion planning under uncertainty is essential for reliable robot operation. Despite substantial advances over the past decade, the problem remains difficult for systems with complex dynamics. Most state-of-the-art methods perform search…

This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

Meshfree simulation methods are emerging as compelling alternatives to conventional mesh-based approaches, particularly in the fields of Computational Fluid Dynamics (CFD) and continuum mechanics. In this publication, we provide a…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

By exploiting a causality property of the nonlinear Fourier transform, a novel decision-feedback detection strategy for nonlinear frequency-division multiplexing (NFDM) systems is introduced. The performance of the proposed strategy is…

Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…

This paper proposes a data-driven approach for optimal power flow (OPF) based on the stacked extreme learning machine (SELM) framework. SELM has a fast training speed and does not require the time-consuming parameter tuning process compared…

To reduce the typical time-consuming routines of plant modeling for model-based controller designs, the fictitious reference iterative tuning (FRIT) has been proposed and has proven to be effective in many applications. However, it is…

Large pretrained language models are widely used in downstream NLP tasks via task-specific fine-tuning, but such procedures can be costly. Recently, Parameter-Efficient Fine-Tuning (PEFT) methods have achieved strong task performance while…

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which…

Coreset selection compresses large datasets into compact, representative subsets, reducing the energy and computational burden of training deep neural networks. Existing methods are either: (i) DNN-based, which are tied to model-specific…

In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

Federated Learning (FL) enables multiple resource-constrained edge devices with varying levels of heterogeneity to collaboratively train a global model. However, devices with limited capacity can create bottlenecks and slow down model…

Large Reasoning Models (LRMs) excel at complex reasoning tasks, but their efficiency is often hampered by overly verbose outputs. Prior steering methods attempt to address this issue by applying a single, global vector to hidden…

This paper introduces Bidirectional Guidance Informed Trees (BIGIT*),~a new asymptotically optimal sampling-based motion planning algorithm. Capitalizing on the strengths of \emph{meet-in-the-middle} property in bidirectional heuristic…

Fast Fourier Transforms (FFT) are widely used to reduce memory and computational costs in deep learning. However, existing implementations, including standard FFT and real FFT (rFFT), cannot achieve true in-place computation. In particular,…