Convex optimisation solves inverse kinematics problems more reliably.
problem Finding the best parameters of a kinematic skeleton from observed joint locations.
method Convex optimisation using semidefinite programming.
result The proposed method significantly outperforms local optimisation methods.
Proves a special case of the Gaussian kinematic formula using large sphere limits.
problem Proving a special case of the Gaussian kinematic formula.
method Viewing the GKF as the limit of spherical kinematic formulas for large dimension spheres.
result Proves a special case of the Gaussian kinematic formula.
In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Us…
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
problem Challenges in applying imitation learning to bimanual robotic tasks.
method Integrates physical robot structure into action prediction using a dynamic spatial-temporal graph and differentiable kinematics.
result Effective generation of kinematics-aware actions in both simulation and real-world environments.
SPOT improves differentiable causal discovery by estimating skeleton posterior for latent confounders.
problem Scalable and accurate estimation of causal skeletons in the presence of latent confounders.
method SPOT (Skeleton Posterior-guided OpTimization) framework that estimates skeleton posterior and integrates it with differentiable causal discovery.
result SPOT enhances differentiable causal discovery by reducing the search space and improving accuracy.
The study examines the topology of complements of polytopal skeletons.
problem Characterizing topological properties of polytopal complexes and their skeletons.
method Constructing a long exact sequence relating homologies of skeleton complements and links of faces.
result Characterizations of Cohen-Macaulay and Leray complexes, stacked balls, and neighbourly spheres in terms of skeleton complements.
Criterion for manifold skeletons embeddability in Euclidean space.
problem Embeddability of manifold skeletons in Euclidean space.
method Criterion based on the complement of a submanifold.
result Embeddability of (q−1)-skeleton of a triangulation of an Sp-bundle over Sq into Rp+q. The paper uses complex-valued functions to simplify plane differential geometry and kinematics.
problem Simplifying complex problems in plane differential geometry and kinematics.
method Consistent use of complex-valued functions of a real variable.
result Derives results in a particularly simple, uniform, and transparent way.
New formulas for measuring geometric properties of definable sets.
problem Measuring geometric properties of definable sets in a non-standard setting.
method Proved two kinematic formulas integrating on SO(n)imesSn−1. result Generalized Cauchy-Crofton and infinitesimal linear kinematic formulas.
Paper proposes a smart neck-band for detecting neck postures using integrated kinematic and kinetic data.
problem Improper neck postures lead to musculoskeletal disorders requiring therapy and rehabilitation.
method Integrated use of kinematic and kinetic data with machine learning algorithms.
result 100% accuracy in predicting neck postures using the proposed platform.
Skeleton is a new notion designed for constructing space-filling curves of self-similar sets. It is shown in [Dai, Rao and Zhang, Space-filling curves of self-similar sets (II): Edge-to-trail substitution rule,https://doi.org/10.1088/1361-6544/ab1275] that for a connected self-similar set, space-filling curves can be c…
We have completely rewritten the paper, and corrected the proofs. We construct an exponential map at any point in the (n-1)-skeleton minus the (n-2)-skeleton of an n-dimensional Riemannian polyhedron. We have added allover the extra-assumption that the exponential map is totally geodesic at points in the (n-1)-skeleton…
We consider the problem of learning a causal graph over a set of variables with interventions. We study the cost-optimal causal graph learning problem: For a given skeleton (undirected version of the causal graph), design the set of interventions with minimum total cost, that can uniquely identify any causal graph with…
The thesis explores kinematical symmetries beyond Lorentzian spacetime.
problem Exploring symmetries beyond standard Lorentzian spacetime.
method Algebraic and geometric classification of kinematical, super-kinematical, and super-Bargmann symmetries.
result Classification of kinematical Lie algebras and superalgebras in 3D spacetime.
The extension functors between categories of Cartan geometries can be used to define different categories of Cartan geometries with additional morphisms. The Cartan geometries modeled on skeletons can be used for the description of such categories of Cartan geometries and therefore we develop the theory of Cartan geome…
Explains non-lorentzian theories and their dynamics.
problem Understanding non-lorentzian kinematics and dynamics.
method Review of kinematical spacetimes, construction of particle dynamics actions, discussion of gravity theories and field theories.
result Introduction and analysis of non-lorentzian gravity and field theories.
We introduce different bases for the vector space of Sp(2)Sp(1)-invariant, translation invariant continuous valuations on the quaternionic plane and determine a complete set of kinematic formulas.
Study explores kinematics of surfaces under metric restrictions.
problem Understanding the kinematics of surfaces under metric constraints.
method Analyzed three energy contents: stretching, drilling, and bending.
result Metric restrictions can hinder the elastic response of a shell.
Fixed point sets of certain group actions are contractible.
problem Fixed point sets of group actions on specific types of complexes.
method Analyzing group actions on diagrammatically reducible complexes with fine 1-skeleton.
result Fixed point sets are contractible under certain conditions.
Study the geometry and dynamics of skew evolutes and involutes, related to bicycle kinematics.
problem Understanding the geometry and dynamics of skew evolutes and involutes.
method Investigate the skew evolute and involute maps, comparing them to bicycle kinematics.
result The skew evolute and involute maps have properties analogous to bicycle kinematics.
Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology is understanding and predicting future movement of vehicles surrounding the SDV.…
Researchers prove formulas for flag area measures, extending previous work.
problem Proving additive kinematic formulas for flag area measures.
method Introducing an algebraic framework to compute these formulas explicitly.
result Existence and explicit computation of additive kinematic formulas for flag area measures.
The existence of kinematic formulas for area measures with respect to any connected, closed subgroup of the orthogonal group acting transitively on the unit sphere is established. In particular, the kinematic operator for area measures is shown to have the structure of a co-product. In the case of the unitary group the…
In this contribution we review results on the kinematics of a quantum system localized on a connected configuration manifold and compatible dynamics for the quantum system including external fields and leading to non-linear Schrödinger equations for pure states.
Skeleton clustering detects clusters in high-dimensional data without needing prototypes.
problem Detecting clusters in high-dimensional data with irregular shapes.
method Skeleton clustering combines prototype methods, density-based clustering, and hierarchical clustering using surrogate density measures.
result Skeleton clustering reliably detects clusters in multivariate and high-dimensional data.
A kinematics of the motion of a car is reformulated in terms of the theory of gauge potentials (connection on principal bundle). E(2)-connection originates in the no-slipping contact of the car with a road.
New kinematic model for a spin-rolling sphere using Darboux frame.
problem Control and planning of an underactuated sphere on a plane.
method Darboux frame transformation to fully-actuated model.
result Underactuated sphere model transformed into fully-actuated model.
We consider the kinematics of specific fluid spacetimes admitting timelike congruences of Ricci Solitons. These fluids includes string cloud, string fluid, perfect fluid, radially symmetric fluid, anisotropic fluid and relativistic magneto-fluid. Results are obtained and important physical aspects are discussed.
Tensor-based method simplifies causal skeleton discovery.
problem Discover causal relationships between variables.
method Express associations as tensors to reduce dimensionality.
result Causal skeleton can be determined using pair-wise tensors.
Efficiently learns polytrees with known skeleton in polynomial time and sample complexity.
problem Learning polytrees with known skeleton structure.
method Proposes an efficient algorithm for learning d-polytrees in polynomial time and sample complexity when the skeleton is known. result Establishes finite-sample guarantees for efficient learning of d-polytrees. We prove that higher moment maps on area measures of a euclidean vector space are injective, while the kernel of the centroid map equals the image of the first variation map. Based on this, we introduce the space of smooth dual area measures on a finite-dimensional euclidean vector space and prove that it admits a natu…
New theorem shows embedding restrictions for manifold skeletons.
problem Embedding restrictions for triangulated manifolds.
method Proves van Kampen-Flores theorem for manifolds with specific Stiefel-Whitney classes.
result Triangulated manifolds with non-trivial Stiefel-Whitney classes cannot embed into R2d. The Bezier simplex fitting is a novel data modeling technique which exploits geometric structures of data to approximate the Pareto front of multi-objective optimization problems. There are two fitting methods based on different sampling strategies. The inductive skeleton fitting employs a stratified subsampling from e…
Node-link diagrams are a popular method for representing graphs that capture relationships between individuals, businesses, proteins, and telecommunication endpoints. However, node-link diagrams may fail to convey insights regarding graph structures, even for moderately sized data of a few hundred nodes, due to visual …
Paper generates synthetic radar signatures for motion classification.
problem Lack of large training datasets for radar-based human activity recognition.
method Adversarial learning for synthetic data generation, kinematic sifting for consistency.
result 93% overall accuracy achieved on diverse aspect angles.
Our main theorem identifies a class of totally geodesic subgraphs of the 1-skeleton of the pants complex, each isomorphic to the product of two Farey graphs. We deduce the existence of many convex planes in the 1-skeleton of the pants complex.
Generalizes kinematical Lie algebras for isotropic spacetimes.
problem Classifying relativity algebras in isotropic spacetimes.
method Elementary proof and Lie group analysis.
result Symplectic involutive Lie algebras always exist.
New method certifies risks of LLM outputs, improving accuracy and reliability.
problem Uncertain and incorrect outputs from large language models.
method Information-lift certificates using PAC-Bayes bounds and skeleton design.
result Achieves 77.0% coverage at 2% risk, outperforming baselines.
The present paper is devoted to the joint motion of two immiscible incompressible liquids in porous media. The liquids have different densities and initially separated by a surface of strong discontinuity (free boundary). We discuss the results of numerical simulations for exact free boundary problems on the microscopi…
DACNN improves skeleton-based action recognition and segmentation.
problem Lack of spatial relationships and non-uniform temporal scalings in skeleton-based data.
method Introduces deep-aligned convolutional neural network (DACNN) with new filters trained on local subsequences.
result DACNN achieves competitive performance compared to state-of-the-art models.
The paper tackles entity induction and reference in visual storytelling.
problem Coherence in visual storytelling through proper entity introduction and reference.
method Building an entity skeleton, using an encoder-decoder framework, and proposing a glocal hierarchical attention model.
result The proposed models outperform the baseline in automatic evaluation metrics and human preference.
Proposes a neural network for recognizing 3D skeleton-based interactions.
problem Recognizing two-person interactions from 3D skeleton sequences.
method Uses Gaussian distributions and Riemannian geometry of SPD matrices and matrix groups.
result Achieves competitive results on three benchmarks for 3D human activity understanding.
The paper finds and visualizes unique geometric polyhedra and tori with few vertices.
problem Finding and visualizing geometric polyhedra and tori with specific vertex configurations.
method Using Schlegel diagrams and geometric realization in 3D and 4D space.
result Identifies and visualizes 12 triangulations of the 2-torus and 12 triangulations of the 2D projective plane.
We create a 3-skeleton for a symmetric group's classifying space.
problem Classifying space construction for symmetric groups.
method Combining rewriting systems and combinatorial methods.
result Correctness of the constructed 3-skeleton.
A new graph-based approach for estimating complex data with manifold structure.
problem Regression of large-scale, complex data with underlying geometric structure and noises.
method Constructing a skeleton graph to capture geometric structure, defining metrics, and applying nonparametric regression.
result Statistical guarantees and effectiveness demonstrated through simulations and real data examples.
We revisit the contact measures introduced by Firey, and further developed by Schneider and Teufel, from the perspective of the theory of valuations on manifolds. This reveals a link between the kinematic formulas for area measures studied by Wannerer and the integral geometry of curved isotropic spaces. As an applicat…
A method for learning skeleton of Bayesian networks robust to outliers and corruption.
problem Learning the exact skeleton of discrete Bayesian networks from corrupted data.
method Distributionally robust optimization and regression approach, optimizing worst-case risk over distributions within bounded Wasserstein distance or KL divergence.
result Logarithmic sample complexities for successful structure learning of bounded-degree graphs.
New proof confirms operations on constructible functions match theory.
problem Matching operations on constructible functions with generalized valuations theory.
method Comparison with characteristic cycles approach.
result Operations on constructible functions match generalized valuations theory under mild assumptions.