A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
New metric invariant GC connects to TC, with applications in robotics.
Approximate 3D elastic curves with exact constraints
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in the Fundamentals of Laparoscopic Surgery. The gripper is used to pinch a point …
The left-invariant sub-Riemannian problem on the Engel group is considered. The problem gives the nilpotent approximation to generic nonholonomic systems in four-dimensional space with two-dimensional control, for instance to a system which describes motion of mobile robot with a trailer. The global optimality of extre…
This work reviews left-invariant optimal control problems on Lie groups.
NeuralCut learns to select cutting planes by looking ahead, outperforming traditional methods.
Differentiable cutting-plane layers solve parametric mixed-integer linear optimization problems.
NeVI-Cut uses neural networks to efficiently propagate uncertainty without feedback.
In recent studies on model-based reinforcement learning (MBRL), incorporating uncertainty in forward dynamics is a state-of-the-art strategy to enhance learning performance, making MBRLs competitive to cutting-edge model free methods, especially in simulated robotics tasks. Probabilistic ensembles with trajectory sampl…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
Paper connects probability density cuts to graph theory eigenfunctions.
Study Riemannian metrics on lens spaces, find cut loci and diameters.
Study Riemannian metrics on lens spaces, find cut loci and diameters.
We consider a left invariant Riemannian metric on SO(3) with two equal eigenvalues. We find the cut locus and the equation for the cut time. We find the diameter of such metric and describe the set of all most distant points from the identity. Also we prove that the cut locus and the cut time converge to the cut locus …
Robotics: Rolling robots on a moving platform can be controlled.
Stability of cut locus under metric perturbations in compact Riemannian manifolds.
New equivalence relation for links using cut-diagrams.
New method improves smoothness of robot learning.
Robots learn to navigate rough terrain using reinforcement learning.
Study shows convergence rates for Cheeger cuts on data clouds.
Unified framework for differentiable graph partitioning with probabilistic cuts.
A new framework for robot block-stacking tasks using causal probabilistic models.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
Stochastic cutting planes improve data-driven optimization speed.
Study of Randers metrics on spheres with simple cut loci.
Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more human-like behaviour and intelligence when applied to the robots. To explore this capa…
ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, …
We define spin-c prequantization of a symplectic manifold to be a spin-c structure and a connection which are compatible with the symplectic form. We describe the cutting of an S^1-equivariant spin-c prequantization. The cutting process involves a choice of a spin-c prequantization for the complex plane. We prove that …
A symplectic cut of a manifold M with a Hamiltonian circle action is a symplectic quotient of M x C. If M is Kaehler then, since C is Kaehler, the cut space is Kaehler as well. The symplectic structure on the cut is well understood. In this paper we describe the complex structure (and hence the metric) on the cut. We t…
A new Q-learning controller improves line follower robot control.
In this note, we study the cut locus of the free, step two Carnot groups with generators, equipped with their left-invariant Carnot-Carathéodory metric. In particular, we disprove the conjectures on the shape of the cut loci proposed in [Myasnichenko - 2002] and [Montanari, Morbidelli - 2016], by exh…
Max flow/min cut theorem extended to currents and topology.
Spectral Clustering as a relaxation of the normalized/ratio cut has become one of the standard graph-based clustering methods. Existing methods for the computation of multiple clusters, corresponding to a balanced -cut of the graph, are either based on greedy techniques or heuristics which have weak connection to th…
Spectral clustering is sensitive to how graphs are constructed from data particularly when proximal and imbalanced clusters are present. We show that Ratio-Cut (RCut) or normalized cut (NCut) objectives are not tailored to imbalanced data since they tend to emphasize cut sizes over cut values. We propose a graph partit…
Paper addresses hypothesis space misspecification in learning from human demonstrations and corrections.
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills thr…
This paper establishes the consistency of a family of graph-cut-based algorithms for clustering of data clouds. We consider point clouds obtained as samples of a ground-truth measure. We investigate approaches to clustering based on minimizing objective functionals defined on proximity graphs of the given sample. Our f…
New upper bound for geodesic complexity derived from cut locus decompositions.
New 2-spheres of revolution with simple cut locus structures.
We consider the Lie group PSL(2) (the group of orientation preserving isometries of the hyperbolic plane) and a left-invariant Riemannian metric on this group with two equal eigenvalues that correspond to space-like eigenvectors (with respect to the Killing form). For such metrics we find a parametrization of geodesics…
The paper learns robot skills from demonstrations without supervision.
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
In this article we extend cutting and blowing up to the nonrational symplectic toric setting. This entails the possibility of cutting and blowing up for symplectic toric manifolds and orbifolds in nonrational directions.
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
Spectral clustering methods which are frequently used in clustering and community detection applications are sensitive to the specific graph constructions particularly when imbalanced clusters are present. We show that ratio cut (RCut) or normalized cut (NCut) objectives are not tailored to imbalanced cluster sizes sin…
Study aims to develop a humanoid robot dialogue system.
Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods that keep track of uncertainty over the objective fail because they reason about …
Top 8 robotic vision systems tackled lifelong object recognition challenges.