相关论文: ODE Methods for Computing One-Dimensional Self-Mot…

Stochastic differential equation (SDE in short) solvers find numerous applications across various fields. However, in practical simulations, we usually resort to using Ito-Taylor series-based methods like the Euler-Maruyama method. These…

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…

Alternating direction method of multipliers (ADMM) is a popular optimization tool for the composite and constrained problems in machine learning. However, in many machine learning problems such as black-box attacks and bandit feedback, ADMM…

The framework of Integral Quadratic Constraints (IQC) reduces the computation of upper bounds on the convergence rate of several optimization algorithms to a semi-definite program (SDP). In the case of over-relaxed Alternating Direction…

Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…

We introduce in this paper a manifold optimization framework that utilizes semi-Riemannian structures on the underlying smooth manifolds. Unlike in Riemannian geometry, where each tangent space is equipped with a positive definite inner…

Inverse Kinematics (IK) systems are often rigid with respect to their input character, thus requiring user intervention to be adapted to new skeletons. In this paper we aim at creating a flexible, learned IK solver applicable to a wide…

An inexact accelerated stochastic Alternating Direction Method of Multipliers (AS-ADMM) scheme is developed for solving structured separable convex optimization problems with linear constraints. The objective function is the sum of a…

Digital memcomputing machines (DMMs) are a novel, non-Turing class of machines designed to solve combinatorial optimization problems. They can be physically realized with continuous-time, non-quantum dynamical systems with memory (time…

We present an exact dimensional reduction for high-dimensional dynamical systems composed of $N$ identical dynamical units governed by quasi-linear ordinary differential equations (ODEs) of order $M$. In these systems, each unit follows a…

Recently, neural networks have been extensively employed to solve partial differential equations (PDEs) in physical system modeling. While major studies focus on learning system evolution on predefined static mesh discretizations, some…

We propose a fast, simple and robust algorithm for computing shortest paths and distances on Riemannian manifolds learned from data. This amounts to solving a system of ordinary differential equations (ODEs) subject to boundary conditions.…

The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…

To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to…

We propose a reduced-order modeling approach for nonlinear, parameter-dependent ordinary differential equations (ODE). Dimensionality reduction is achieved using nonlinear maps represented by autoencoders. The resulting low-dimensional ODE…

We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…

Optimal transport (OT) has recently found widespread interest in machine learning. It allows to define novel distances between probability measures, which have shown promise in several applications. In this work, we discuss how to…

Ordinary differential equations (ODEs) and ordinary difference systems (O$\Delta$Ss) invariant under the actions of the Lie groups $\mathrm{SL}_x(2)$, $\mathrm{SL}_y(2)$ and $\mathrm{SL}_x(2)\times\mathrm{SL}_y(2)$ of projective…

The indicator matrix plays an important role in machine learning, but optimizing it is an NP-hard problem. We propose a new relaxation of the indicator matrix and prove that this relaxation forms a manifold, which we call the Relaxed…