arXiv research

Paper reduces movement primitive dimensionality in parameter space.

Probabilistic representations of movement primitives open important new possibilities for machine learning in robotics. These representations are able to capture the variability of the demonstrations from a teacher as a probability distribution over trajectories, providing a sensible region of exploration and the abili…

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…

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…

Extended CSGE improves power and cyclist movement forecasting.

Understanding and modeling human driver behavior is crucial for advanced vehicle development. However, unique driving styles, inconsistent behavior, and complex decision processes render it a challenging task, and existing approaches often lack variability or robustness. To approach this problem, we propose Probabilist…

Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A promising approach is to model the trajectory as being generated by a set of Switching L…

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.…

Contextual policy search allows adapting robotic movement primitives to different situations. For instance, a locomotion primitive might be adapted to different terrain inclinations or desired walking speeds. Such an adaptation is often achievable by modifying a small number of hyperparameters. However, learning, when …

Deep learning identifies functional primitives in stroke rehabilitation.

Most current methods for learning from demonstrations assume that those demonstrations alone are sufficient to learn the underlying task. This is often untrue, especially if extra safety specifications exist which were not present in the original demonstrations. In this paper, we allow an expert to elaborate on their o…

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.

Note on connectedness of primitive disk complex.

Study primitive cohomology in symplectic manifolds.

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

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…

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…

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…

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…

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…

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…

Linear algebra approach for parallel deep learning models.

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…

We construct a sequence of primitive-stable representations of free groups into PSL(2,C) whose ranks go to infinity, but whose images are discrete with quotient manifolds that converge geometrically to a knot complement. In particular this implies that the rank and geometry of the image of a primitive-stable representa…

We construct two infinite families of knots each of which admits a Seifert fibered surgery with none of these surgeries coming from Dean's primitive/Seifert-fibered construction. This disproves a conjecture that all Seifert fibered surgeries arise from Dean's primitive/Seifert-fibered construction. The (-3,3,5)-pretzel…

For random elements in free groups, we find a rank and set of subgroups.

We introduce new finite-dimensional cohomologies on symplectic manifolds. Each exhibits Lefschetz decomposition and contains a unique harmonic representative within each class. Associated with each cohomology is a primitive cohomology defined purely on the space of primitive forms. We identify the dual currents of lagr…

The goal of this paper is to offer a comprehensive exposition of the current knowledge about Heegaard splittings of exteriors of knots in the 3-sphere. The exposition is done with a historical perspective as to how ideas developed and by whom. Several new notions are introduced and some facts about them are proved. In …

Embeddings of pairs of disjoint nonparallel primitive simple closed curves in the boundary of a genus two handlebody are classified. Briefly, two disjoint primitives either lie on opposite ends of a product $F \boldsymbol{\times} I$, or they lie on opposite ends of a kind of "twisted" product $F \widetilde{\boldsymbol{…

We prove the equivalence of two conditions on the primitive elements in an $SL(2,\mathbb C)$ representation of the free group $F_2$ on two generators, which may hold even when the image of $F_2$ is not discrete. One is Minsky's condition of primitive stability and the other is the $BQ$-condition introduced by Bowditch …

This paper classifies curves in genus two handlebodies.

Construct algorithms for Frobenius manifolds and residue pairings on Calabi-Yau varieties.

We study Veech groups of covering surfaces of primitive translation surfaces. Therefore we define congruence subgroups in Veech groups of primitive translation surfaces using their action on the homology with entries in $\mathbb{Z}/a\mathbb{Z}$. We introduce a congruence level definition and a property of a primitive t…