RTN generates realistic character transitions from context.
problem Manual transition animation creation is tedious and time-consuming.
method Recurrent Neural Network (RNN) with LSTM architecture trained on past context.
result RTN produces realistic transitions that rival motion capture.
CARL controls a quadruped to move naturally in complex environments.
problem Motion synthesis in dynamic environments with complex constraints.
method CARL uses GANs to adapt high-level controls to action distributions and deep reinforcement learning for dynamic recovery.
result CARL can be controlled with high-level directives and react naturally to dynamic environments.
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant or micro-scale robots. Data-driven gait optimization provides an automated alter…
A novel approach learns goal-conditioned policies for locomotion using batch RL.
problem Training goal-conditioned policies for rotation invariant locomotion.
method Data augmentation and Siamese framework for invariance.
result Our approach outperforms existing RL algorithms on 3D locomotion agents.
'Sharing of statistical strength' is a phrase often employed in machine learning and signal processing. In sensor networks, for example, missing signals from certain sensors may be predicted by exploiting their correlation with observed signals acquired from other sensors. For humans, our hands move synchronously with …
A novel RL approach learns robotic manipulation without human demonstrations.
problem Learning robotic manipulation policies efficiently and effectively.
method Introducing simulated locomotion demonstration rewards (SLDRs) to enable RL learning.
result The approach achieves higher success rates and faster learning compared to alternatives.
The paper develops a learning framework for diverse legged robots.
problem General and autonomous learning of core skills in locomotion.
method Data-efficient, off-policy multi-task RL algorithm with semantically identical reward functions.
result The same algorithm can learn diverse and reusable locomotion skills across different legged robots.
New framework for task-independent legged locomotion.
problem Building stable legged locomotion systems in robotics.
method Task-independent spiking central pattern generator using learning methods.
result Robotic legged locomotion at different speeds and within the same gait cycle.
A decentralized deep RL controller improves hexapod locomotion learning.
problem Deep RL struggles with real-world legged robot control.
method Decentralized deep RL on a hexapod robot.
result Decentralized approach learns better and faster.
New friction model for geometric locomotion systems.
problem Modeling asymmetric friction in locomotion systems.
method Introducing asymmetric friction into geometric locomotion models using Finsler metrics.
result Generalized motility map for systems with asymmetric friction.
Robotics: Rolling robots on a moving platform can be controlled.
problem Controlling the motion of rolling robots atop a moving platform.
method Developed a mathematical model and demonstrated simulations.
result Platform acceleration can control robot's heading and motion.
Paper introduces new motion synthesis model using normalizing flows.
problem Data-driven motion synthesis with probabilistic and controllable models.
method Probabilistic, generative, autoregressive model using normalizing flows and LSTMs.
result Randomly sampled motion from the model outperforms task-agnostic baselines.
This paper examines linear embeddings for high-dimensional Bayesian optimization, identifying and addressing issues to improve performance.
problem Scaling Bayesian optimization to high-dimensional spaces while maintaining sample efficiency.
method Study and empirical evaluation of linear embeddings for BO, addressing design choices and their impact on performance.
result Properly addressing issues in linear embeddings significantly improves their efficacy in BO.
SAVO actor improves reinforcement learning by avoiding local optima in complex Q-functions.
problem Gradient ascent in complex Q-functions leads to suboptimal solutions.
method SAVO actor generates multiple action proposals and truncates poor local optima.
result SAVO actor finds optimal actions more frequently and outperforms other architectures.
PerCDL learns personalized dictionaries for physiological signals combining global and local structures.
problem Representing datasets with both global and local structures in human physiological signals.
method Personalized Convolutional Dictionary Learning (PerCDL) that combines a global and personalized local dictionary.
result PerCDL effectively learns interpretable representations for human locomotion data.
The theory of differential characters is developed completely from a de Rham - Federer viewpoint. Characters are defined as equivalence classes of special currents, called sparks, which appear naturally in the theory of singular connections. There are many different spaces of currents which yield the character groups. …
Character scheme of small Seifert 3-manifolds is reduced if and only if no exceptional abelian character exists.
problem Character scheme of small Seifert 3-manifolds and its reduction condition.
method Complete description of the SL2(C)-character scheme of small Seifert 3-manifolds.
result Character scheme is reduced if and only if no exceptional abelian character exists, and exceptional abelian character has multiplicity 2.
Quantum character varieties unify four construction methods.
problem No specific problem stated; unification of approaches.
method Four different approaches to construction.
result Unified understanding of quantum character varieties.
We show that for any knot there exist only finitely many irreducible metabelian characters in the SL(2,C)-character variety of the knot group, and the number is given explicitly by using the determinant of the knot. Then it turns out that for any 2-bridge knot a section of the SL(2,C)-character va…
Study of orbifold Chern character using superconnections.
problem Chern character for orbifold settings.
method Use of flat antiholomorphic superconnections and Riemann-Roch-Grothendieck theorem.
result Uniqueness of orbifold Chern character proven.
Character varieties get a natural Poisson structure.
problem Character varieties of surfaces.
method Natural Poisson structure.
result Character varieties have a Poisson structure.
In this paper, we give a quantum interpretation of the Bismut-Chern character form (the loop space lifting of the Chern character form) as well as the Chern character form associated to a complex vector bundle with connection over a smooth manifold in the framework of supersymmetric quantum field theories developed by …
Study shows how certain knots and tori are detected by ideal points in character varieties.
problem Detecting essential twice-punctured tori in character varieties.
method Extending Tillmann's limiting character method to new families of knots and tori.
result Explicit determination of limiting characters at ideal points for specific knots and tori.
Study SL(2,C) character schemes for finitely generated groups.
problem Characterize SL(2,C) representations of finitely generated groups.
method Define coordinate rings and equations for SL(2,C) character schemes.
result Explicit equations for character schemes of finitely presented groups.
Background elimination for noisy character images or character images from real scene is still a challenging problem, due to the bewildering backgrounds, uneven illumination, low resolution and different distortions. We propose a stroke-based character reconstruction(SCR) method that use a weighted quadratic Bezier cur…
Character variety of Borromean link solved, Alexander polynomial formula found.
problem Character variety of Borromean link
method Determined irreducible SL(2,C) character variety, found Alexander polynomial formula
result Formula for twisted Alexander polynomial on character variety
Character varieties of 2-bridge knots and links explained using Farey recursion.
problem Understanding character varieties of 2-bridge knots and links.
method Using Farey recursion to define polynomials for character varieties.
result Character varieties described in terms of polynomials defined by Farey recursion.
Computes dimensions of representation and character varieties for 2 and 3-dimensional orbifolds.
problem Computing dimensions of representation and character varieties for orbifolds.
method Analyzes varieties of representations and characters of hyperbolic and non-hyperbolic orbifolds, provides tools for computation.
result Shows that the dimension of a specific component of characters equals half the dimension of the variety of characters of the boundary.
Paper generates personalized fonts from a few characters.
problem Creating personalized fonts from a limited set of characters.
method Designs a network framework to extract and recombine character content and style using various neural networks.
result Generated characters are structurally similar to real characters.
Paper proposes PRR network for better experience reuse in reinforcement learning.
problem Efficient experience reuse in reinforcement learning across multiple granularities.
method Proposes PRR network trained on multi-level architecture to extract and store experience.
result PRR network leads to better experience reuse and improved performance.
We study some basic properties of the variety of characters in PSL(2,C) of a finitely generated group. In particular we give an interpretation of its points as characters of representations. We construct 3-manifolds whose variety of characters has arbitrarily many components that do not lift to SL(2,C). We also study t…
Study of quantum decorated character stacks and their quantizations.
problem Quantization of decorated character stacks and their compatibility with cutting and gluing.
method Using stratified factorization homology, extend Fock and Goncharov's construction to include stacky points.
result Construction of categorical charts and flips on quantum decorated character stacks.
Let K be a knot in an integral homology 3-sphere and let B denote the 2-fold branched cover of the integral homology sphere branched along K. We construct a map from the slice of characters with trace free along meridians in the SL(2, C)-character variety of the knot exterior to the SL(2, C)-character variety of 2-fold…
Study character varieties of hyperbolic 3-manifolds using bundle methods.
problem Character varieties of hyperbolic 3-manifolds in once-punctured torus bundles.
method Restrict characters to the fibre and analyze branched covering maps.
result Infinite family of hyperbolic once-punctured bundles with unbounded genus.
Finite automorphisms of SL(2,C) character varieties identified.
problem Character varieties of surfaces with negative Euler characteristic.
method Algebraic automorphisms and mapping class groups studied.
result Finite extension of mapping class group identified.
Researchers describe character varieties for Hopf links, proving geometric properties.
problem Character variety geometry of Hopf links with n twists. method Geometric descriptions of irreducible and totally reducible representations.
result Complete geometric description of SU(2)-character variety for r=2. Study of SU(2,1) character varieties on one-holed torus.
problem Characterize representations of mapping class group on SU(2,1) character variety.
method Explicit description of SU(2,1) character variety, use of Farey graph adaptation, and mapping class group action analysis.
result Description of an open domain of discontinuity for mapping class group action.
RNN model predicts handwritten characters from accelerometer and gyroscope data.
problem Online handwritten character recognition using sensor data.
method RNN-based neural network trained on gyroscope and accelerometer data.
result High accuracy on test data, achieving character prediction.
We calculate the universal character ring of a class of two-generator, one-relator groups. As an application we give a less technical proof of a result in [LT] on the universal character ring of the (-2,3,2n+1)-pretzel knot. We also give an elementary proof of a result in [Ma] on the character variety of the (-2,3,2n+1…
Character variety of Whitehead link described in detail.
problem Character variety of Whitehead link.
method Nice description of a Zariski open subset.
result Zariski open subset of the character variety described.
Proves Torelli group action is ergodic on Lie group character varieties.
problem Ergodicity of Torelli group action on compact character varieties.
method Proof based on properties of connected, semi-simple Lie groups.
result Torelli group action on compact character varieties is ergodic.
A minimal RNN model learns to generate new characters from a single example.
problem Learning efficiency and compositional ability in AI.
method Minimal RNN model with one-shot inference mechanism.
result The model can recombine previously learned substructures to generate new characters.
Study SL2(F)-character varieties of knots over fields of odd characteristic.
problem Character varieties of knots over fields of odd characteristic exhibit ramification phenomena.
method Investigate sufficient conditions for ramification using double branched covers and Alexander polynomials.
result Character varieties of knots over fields of odd characteristic can present ramification phenomena.
Detecting essential surfaces in 3-manifolds and orbifolds using character varieties.
problem Detecting essential surfaces in 3-manifolds and orbifolds.
method Extending Culler and Shalen's construction to 3-orbifolds using SL2(C) character variety. result Any slope detected on a canonical component of the (P)SL2(C) character variety of a one-cusped hyperbolic 3-manifold with symmetries must be the slope of a symmetric surface. Quantum trace maps abelian character varieties to SL2 character varieties.
problem Classifying irreducible representations of Chekhov-Fock algebras.
method Non-commutative deformation of algebraic morphisms.
result Induces birational morphism between torus and SL2 character variety.
We introduce certain relative differential characters which we call Cheeger-Chern-Simons characters. These combine the well-known Cheeger-Simons characters with Chern-Simons forms. In the same way as the Cheeger-Simons characters generalize Chern-Simons invariants of oriented closed manifolds, the Cheeger-Chern-Simons …
New method learns diverse solutions in reinforcement learning without gradient bias.
problem Lack of diverse solutions in reinforcement learning tasks.
method Maximizes state-action-based mutual information directly, using variational lower bound.
result Successfully learns an infinite set of diverse solutions.
We describe on any finitely generated group G the space of maps G->C which satisfy the parallelogram identity, f(xy)+f(xy^{-1})=2f(x)+2f(y). It is known (but not well-known) that these functions correspond to Zariski-tangent vectors at the trivial character of the character variety of G in SL_2(C). We study the obstruc…