相关论文: A Comparison Between Lie Group- and Lie Algebra- B…
Invariance and equivariance to geometrical transformations have proven to be very useful inductive biases when training (convolutional) neural network models, especially in the low-data regime. Much work has focused on the case where the…
Gauss's law-based quantum error correction (GLQEC) offers a promising approach to reducing qubit overhead in lattice gauge theory simulations by leveraging built-in symmetries. For applications of GLQEC to 1+1D lattice quantum…
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly…
We study sample efficient reinforcement learning (RL) under the general framework of interactive decision making, which includes Markov decision process (MDP), partially observable Markov decision process (POMDP), and predictive state…
The theory of geodesic regression aims to find a geodesic curve which is an optimal fit to a given set of data. In this article we restrict ourselves to the Riemannian manifold of positive definite operators (matrices) on a Hilbert space of…
In the interaction between control and mathematics, mathematical tools are fundamental for all the control methods, but it is unclear how control impacts mathematics. This is the first part of our paper that attempts to give an answer with…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and…
This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
In this paper, the electrical characteristics of the Gaseous Electronics Conference (GEC) reference cell with impedance matching are investigated through a two-dimensional electrostatic implicit Particle-in-Cell/Monte Carlo Collision…
We generalize the classical construction principles of infinite-dimensional real (and complex) Lie groups to the case of Lie groups over non-discrete topological fields. In particular, we discuss linear Lie groups, mapping groups, test…
This is a short presentation of some classical results on finite dimensional complex Lie algebras (classification of nilpotent Lie algebras, deformations and perturbations, contractions and rigidity). We present some applications to…
The goal of this paper is the study of algebraic relations on the Lie algebra of first integrals of the geodesic flow on nilpotent Lie groups equipped with a left-invariant metric. It is proved that the isometry algebra of the $k$-step…
We present a neuro-mathematical model for geometrical optical illusions (GOIs), a class of illusory phenomena that consists in a mismatch of geometrical properties of the visual stimulus and its associated percept. They take place in the…
We investigate geometric properties of a class of trace functions expressed in terms of the deformed logarithmic and exponential functions. These trace functions and their properties may be of independent interest. We use them in particular…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…
We describe several different representations of nilpotent step two Lie groups in spaces of monogenic Clifford valued functions. We are inspired by the classic representation of the Heisenberg group in the Segal-Bargmann space of…
In this paper, we develop a class of antisymmetrized geminal power configuration interaction (AGP-CI) wave functions that extend the AGP framework by incorporating inter-geminal correlations through a CI expansion. To make these…
In this paper we present the solution to a longstanding problem of differential geometry: Lie's third theorem for Lie algebroids. We show that the integrability problem is controlled by two computable obstructions. As applications we…
In this paper, we propose an approach to designing online feedback controllers for input-saturated robotic systems evolving on Lie groups by extending the recently developed Sequential Action Control (SAC). In contrast to existing feedback…