相关论文: Robot joint characterisation and control using a m…

Recently, Transformer-based encoder-decoder models have demonstrated strong performance in multilingual speech recognition. However, the decoder's autoregressive nature and large size introduce significant bottlenecks during inference.…

Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…

In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…

Most existing deep learning-based registration methods are trained on single-type images to address same-domain tasks.However, cross-domain deformable registration remains challenging.We argue that the tailor-made matching criteria in…

Encoding a sequence of observations is an essential task with many applications. The encoding can become highly efficient when the observations are generated by a dynamical system. A dynamical system imposes regularities on the observations…

Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

We study data-driven identification of interpretable hybrid robot dynamics, where an analytical rigid-body dynamics model is complemented by a learned residual torque term. Using symbolic regression and sparse identification of nonlinear…

In the spirit of multi-scale modeling, we develop a theoretical framework for spin-lattice coupling that connects, on the one hand, to ab initio calculations of spin-lattice coupling parameters and, on the other hand, to the magneto-elastic…

It was shown [New J. Phys. 17, 103037 (2015)] that large and robust entanglement between two different mechanical resonators could be achieved, either dynamically or in the steady state, in an optomechanical system in which the two…

The advent of 3D printing has revolutionized many industries and has had similar improvements for soft robots. However, many challenges persist for these functional devices. Magnetic soft robots require the addition of magnetic particles…

Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…

This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed observer is enhanced with a hybrid scheme that may adjust the…

Rotary Position Embedding (RoPE) is the de facto positional encoding in large language models due to its ability to encode relative positions and support length extrapolation. When adapted to vision transformers, the standard axial…

The Transformer architecture has revolutionized various regions since it was proposed, and its effectiveness largely depends on the ability to encode positional information. Traditional position encoding methods exhibit significant…

Spin-exchange relaxation free alkali-metal magnetometers typically operate in the regime of high optical density, presenting challenges for simple and efficient optical pumping and detection. We describe a high-sensitivity Rb magnetometer…

We investigate geometric regularization strategies for learned latent representations in encoder--decoder reduced-order models. In a fixed experimental setting for the advection--diffusion--reaction (ADR) equation, we model latent dynamics…

Machine learning has become a promising approach for molecular modeling. Positional quantities, such as interatomic distances and bond angles, play a crucial role in molecule physics. The existing works rely on careful manual design of…

Object encoding and identification are crucial for many robotic tasks such as autonomous exploration and semantic relocalization. Existing works heavily rely on the tracking of detected objects but have difficulty recalling revisited…

We describe a simple magneto-optical experiment and introduce a magneto-optical Kramers-Kronig analysis (MOKKA) that together allow extracting the complex dielectric function for left- and right-handed circular polarizations in a broad…