相关论文: Sparse approximations for contact mechanics

We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…

In the synthesis model signals are represented as a sparse combinations of atoms from a dictionary. Dictionary learning describes the acquisition process of the underlying dictionary for a given set of training samples. While ideally this…

We consider a framework for the construction of iterative schemes for operator equations that combine low-rank approximation in tensor formats and adaptive approximation in a basis. Under fairly general assumptions, we obtain a rigorous…

We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…

We recount recent history behind building compact models of nonlinear, complex processes and identifying their relevant macroscopic patterns or "macrostates". We give a synopsis of computational mechanics, predictive rate-distortion theory,…

The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…

In a recent paper, the authors proposed a new class of low-complexity iterative thresholding algorithms for reconstructing sparse signals from a small set of linear measurements \cite{DMM}. The new algorithms are broadly referred to as AMP,…

This paper introduces the concept of abstracted model reduction: a framework to improve the tractability of structure-preserving methods for the complexity reduction of interconnected system models. To effectively reduce high-order,…

Dense suspensions of particles dispersed in liquids are central to industrial and geophysical processes and serve as model systems for out-of-equilibrium soft matter. At high particle concentrations, they exhibit stress-dependent rheology,…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

Automated high-stake decision-making such as medical diagnosis requires models with high interpretability and reliability. As one of the interpretable and reliable models with good prediction ability, we consider Sparse High-order…

In this work, we present a model order reduction technique for nonlinear structures assembled from components.The reduced order model is constructed by reducing the substructures with proper orthogonal decomposition and connecting them by a…

Collisions and contacts of elastic materials are numerically and theoretically investigated. Using a two-dimensional spring-mass model with defect particles under the free boundary condition, we reproduce the Hertzian contact theory at…

Compressive sensing (CS) exploits sparsity to recover sparse or compressible signals from dimensionality reducing, non-adaptive sensing mechanisms. Sparsity is also used to enhance interpretability in machine learning and statistics…

Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…

We present an efficient, accurate, and robust method for simulation of dense suspensions of deformable and rigid particles immersed in Stokesian fluid in two dimensions. We use a well-established boundary integral formulation for the…

Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…

In sparse recovery, the unique sparsest solution to an under-determined system of linear equations is of main interest. This scheme is commonly proposed to be applied to signal acquisition. In most cases, the signals are not sparse…

Extracting governing equations from dynamic data is an essential task in model selection and parameter estimation. The form of the governing equation is rarely known a priori; however, based on the sparsity-of-effect principle one may…

In this paper the efficiency of multilevel sparse tensor approximation methods for high-dimensional affine parametric diffusion equations is investigated. Methodologically, the recently presented Sparse Alternating Least Squares (SALS)…