arXiv research

Acquiring new robot motor skills is cumbersome, as learning a skill from scratch and without prior knowledge requires the exploration of a large space of motor configurations. Accordingly, for learning a new task, time could be saved by restricting the parameter search space by initializing it with the solution of a si…

Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive agents learns to dynamically self-assemble into composite bodies while also lea…

Model improves robustness of neural network sequences without transition failures.

Humans are able to perform a myriad of sophisticated tasks by drawing upon skills acquired through prior experience. For autonomous agents to have this capability, they must be able to extract reusable skills from past experience that can be recombined in new ways for subsequent tasks. Furthermore, when controlling com…

Neuroscientific studies of drawing-like movements usually analyze neural representation of either geometric (eg. direction, shape) or temporal (eg. speed) features of trajectories rather than trajectory's representation as a whole. This work is about empirically supported mathematical ideas behind splitting and merging…

Machine learning models adapt to motor learning but face challenges.

Rehabilitation training is the primary intervention to improve motor recovery after stroke, but a tool to measure functional training does not currently exist. To bridge this gap, we previously developed an approach to classify functional movement primitives using wearable sensors and a machine learning (ML) algorithm.…

Machine learning monitors detect motor overheating, adapting to concept drift.

Geometry-aware models improve cross-subject EEG decoding accuracy.

In April 2009, we introduced a model representing the evolution of motor fuel price (a subcategory of the consumer price index of transportation) relative to the overall CPI as a linear function of time. Under our framework, all price deviations from the linear trend are transient and the price must promptly return to …

Model forecasts motor vehicle collision rates with high accuracy.

Berge introduced knots that are primitive/primitive with respect to the genus 2 Heegaard surface, $F$, in $S^3$; surgery on such knots at the surface slope yields a lens space. Later Dean described a similar class of knots that are primitive/Seifert with respect to $F$; surgery on these knots at the surface slope yield…

The twisted torus knots lie on the standard genus 2 Heegaard surface for $S^3$, as do the primitive/primitive and primitive/Seifert knots. It is known that primitive/primitive knots are fibered, and that not all primitive/Seifert knots are fibered. Since there is a wealth of primitive/Seifert knots that are twisted tor…

Primitive curves in handlebodies form a connected complex.

Enhanced EEG classification improves motor imagery detection with less computation.

Note on connectedness of primitive disk complex.

Study primitive cohomology in symplectic manifolds.

No primitive Teichmüller curves found in Prym(2,2).

Before the operation of a motor imagery based brain-computer interface (BCI) adopting machine learning techniques, a cumbersome training procedure is unavoidable. The development of a practical BCI posed the challenge of classifying single-trial EEG with a small training set. In this letter, we addressed this problem b…

Autism Spectrum Disorders (ASDs) are often associated with specific atypical postural or motor behaviors, of which Stereotypical Motor Movements (SMMs) have a specific visibility. While the identification and the quantification of SMM patterns remain complex, its automation would provide support to accurate tuning of t…

A symplectic form has a primitive with nowhere vanishing $β$.

We show that lens space surgeries on knots in $S^3$ which arise from the primitive/Seifert type construction also arise from the primitive/primitive construction. This is the first step of a three step program to prove the Berge conjecture for tunnel number one knots.

For a genus two Heegaard splitting of a lens space, the primitive disk complex is defined to be the full subcomplex of the disk complex for one of the handlebodies of the splitting spanned by all vertices of primitive disks. In this work, we describe the complete combinatorial structure of the primitive disk complex fo…

We show that the exterior derivative operator on a symplectic manifold has a natural decomposition into two linear differential operators, analogous to the Dolbeault operators in complex geometry. These operators map primitive forms into primitive forms and therefore lead directly to the construction of primitive cohom…

Brain-computer interfaces (BCIs) have enabled prosthetic device control by decoding motor movements from neural activities. Neural signals recorded from cortex exhibit nonstationary property due to abrupt noises and neuroplastic changes in brain activities during motor control. Current state-of-the-art neural signal de…

Study primitive decompositions for harmonic forms on almost Kähler manifolds.

In this article, we prove that every arithmetic locally symmetric orbifold of classical type without Euclidean or compact factors has arbitrarily long arithmetic progressions in its primitive length spectrum. Moreover, we show the stronger property that every primitive length occurs in arbitrarily long arithmetic progr…

A twisted torus knot is a knot obtained from a torus knot by twisting adjacent strands by full twists. The twisted torus knots lie in $F$, the genus 2 Heegaard surface for $S^3$. Primitive/primitive and primitive/Seifert knots lie in $F$ in a particular way. Dean gives sufficient conditions for the parameters of the tw…

Current studies about motor imagery based rehabilitation training systems for stroke subjects lack an appropriate analytic method, which can achieve a considerable classification accuracy, at the same time detects gradual changes of imagery patterns during rehabilitation process and disinters potential mechanisms about…

Autism spectrum condition (ASC) or autism spectrum disorder (ASD) is primarily identified with the help of behavioral indications encompassing social, sensory and motor characteristics. Although categorized, recurring motor actions are measured during diagnosis, quantifiable measures that ascertain kinematic physiognom…

Given a genus-$g$ Heegaard splitting of the $3$-sphere with $g \ge 3$, we show that the primitive disk complex for the splitting is not weakly closed under disk surgery operation. That is, there exist two primitive disks in one of the handlebodies of the splitting such that any disk surgery on one along the other one y…

This paper improves MI-based BCIs by applying transfer learning across all components.

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this capability is an extremely challenging endeavor. In this paper, we investigate …

Semantically understanding complex drivers' encountering behavior, wherein two or multiple vehicles are spatially close to each other, does potentially benefit autonomous car's decision-making design. This paper presents a framework of analyzing various encountering behaviors through decomposing driving encounter data …

In this paper, we give a complete criterion for a discrete faithful representation $ρ:F_n \ra \pslc$ to be primitive stable. This will answer Minsky's conjectures about geometric conditions on $\H^3/ρ(F_n)$ regarding the primitive stability of $ρ$.

We call a pair (K, m) of a knot K in the 3-sphere S^3 and an integer m a Seifert fibered surgery if m-surgery on K yields a Seifert fiber space. For most known Seifert fibered surgeries (K, m), K can be embedded in a genus 2 Heegaard surface of S^3 in a primitive/Seifert position, the concept introduced by Dean as a na…

We give a formula for Alexander polynomials of doubly primitive knots.

Considering the driving habits which are learned from the naturalistic driving data in the path-tracking system can significantly improve the acceptance of intelligent vehicles. Therefore, the goal of this paper is to generate the prediction results of lateral commands with confidence regions according to the reference…

A decentralized deep RL controller improves hexapod locomotion learning.

Proves a vanishing property for symplectic manifold cohomology.

Two Riemannian manifolds are called eigenvalue equivalent when their sets of eigenvalues of the Laplace-Beltrami operator are equal (ignoring multiplicities). They are (primitive) length equivalent when the sets of lengths of their (primitive) closed geodesics are equal. We give a general construction of eigenvalue equ…

Study improves motor insurance claim prediction using geographic data.

Monitoring the magnet temperature in permanent magnet synchronous motors (PMSMs) for automotive applications is a challenging task for several decades now, as signal injection or sensor-based methods still prove unfeasible in a commercial context. Overheating results in severe motor deterioration and is thus of high co…

Reinforcement learning agents that operate in diverse and complex environments can benefit from the structured decomposition of their behavior. Often, this is addressed in the context of hierarchical reinforcement learning, where the aim is to decompose a policy into lower-level primitives or options, and a higher-leve…

We show that closed 3-manifolds with high Heegaard distance and bounded subsurface Heegaard distance are primitive stable when they are regarded as representations from the free group corresponding to the handlebody. This implies that any point on the boundary of Schottky space can be approximated by primitive stable r…

In this article, we investigate when the set of primitive geodesic lengths on a Riemannian manifold have arbitrarily long arithmetic progressions. We prove that in the space of negatively curved metrics, a metric having such arithmetic progressions is quite rare. We introduce almost arithmetic progressions, a coarsific…

We introduce new boundary conditions for differential forms on symplectic manifolds with boundary. These boundary conditions, dependent on the symplectic structure, allows us to write down elliptic boundary value problems for both second-order and fourth-order symplectic Laplacians and establish Hodge theories for the …

A transitive smooth action of a connected Lie group G on a manifold M is called almost primitive (resp. primitive) if G doesn't contain any proper subgroup (resp. any proper normal subgroup) whose induced action on M is transitive as well. The aim of the present work is to investigate some combinatory properties of sym…