相关论文: Adaptive H-EFT-VA: A Provably Safe Trajectory Thro…
Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…
Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian is learned from data. We show how to propagate this uncertainty into a safety filter with independently tunable credibility budgets. To…
We consider Horava gravity within the framework of the effective field theory (EFT) of dark energy and modified gravity. We work out a complete mapping of the theory into the EFT language for an action including all the operators which are…
In the present paper we initiate the challenging task of building a mathematically sound theory for Adaptive Virtual Element Methods (AVEMs). Among the realm of polygonal meshes, we restrict our analysis to triangular meshes with hanging…
We present the explicit construction of the effective field theory (EFT) of standard model mass eigenstates. The EFT, which is invariant under $U(1)_{\text{e.m.}}\times SU(3)_c$, is constructed based on the on-shell method and Young Tableau…
Recent deep trajectory predictors (e.g., Jiang et al., 2023; Zhou et al., 2022) have achieved strong average accuracy but remain unreliable in complex long-tail driving scenarios. These limitations reveal the weakness of the prevailing…
We formulate the quantum version of non-projectable Ho\v{r}ava gravity as a Lagrangian theory with a path integral in the configuration space with an ultra-local in time, but non-local in space, field-dependent measure. Using auxiliary…
We consider a class of infinite-dimensional singular stochastic control problems. These can be thought of as spatial monotone follower problems and find applications in spatial models of production and climate transition. Let…
We study a generalization of the classic Spanning Tree problem that allows for a non-uniform failure model. More precisely, edges are either \emph{safe} or \emph{unsafe} and we assume that failures only affect unsafe edges. In Unweighted…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and…
In this paper, we propose an interior-point method for linearly constrained optimization problems (possibly nonconvex). The method - which we call the Hessian barrier algorithm (HBA) - combines a forward Euler discretization of Hessian…
Standard neural network based on general back propagation learning using delta method or gradient descent method has some great faults like poor optimization of error-weight objective function, low learning rate, instability .This paper…
Repair operators are often used for constraint handling in constrained combinatorial optimization. We investigate the (1+1)~EA equipped with a tailored jump-and-repair operation that can be used to probabilistically repair infeasible…
The hybrid quantum-classical algorithm is actively examined as a technique applicable even to intermediate-scale quantum computers. To execute this algorithm, the hardware efficient ansatz is often used, thanks to its implementability and…
Deploying Vision-Language Models (VLMs) on edge devices is challenged by resource constraints and performance degradation under distribution shifts. While test-time adaptation (TTA) can counteract such shifts, existing methods are too…
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as…
Efficient methods for encoding and compression are likely to pave way towards the problem of efficient trainability on higher dimensional Hilbert spaces overcoming issues of barren plateaus. Here we propose an alternative approach to…