Publications related to Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Related publications (33)

Testing Theories of the Glass Transition with the Same Liquid but Many Kinetic Rules

We study the glass transition by exploring a broad class of kinetic rules that can significantly modify the normal dynamics of supercooled liquids while maintaining thermal equilibrium. Beyond the usual dynamics of liquids, this class includes dynamics in ...

Amer Physical Soc2024

Frustrated magnets in the limit of infinite dimensions: Dynamics and disorder-free glass transition

Achille Mauri

We study the statistical mechanics and the equilibrium dynamics of a system of classical Heisenberg spins with frustrated interactions on a d -dimensional simple hypercubic lattice, in the limit of infinite dimensionality d -> infinity . In the analysis we ...

Amer Physical Soc2024

Navigating the Loop: From Control Systems to Neural Networks and Back

Clara Lucía Galimberti

The work presented in this thesis lies at the intersection of Machine Learning (ML) and control theory. The first part is dedicated to the design of Deep Neural Network (DNN) architectures with specific numerical properties, inspired by dynamical systems m ...

EPFL2024

Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

2024

Dynamical Low-Rank Approximation for Stochastic Differential Equations

Fabio Nobile, Yoshihito Kazashi, Fabio Zoccolan

In this paper, we set the mathematical foundations of the Dynamical Low-Rank Approximation (DLRA) method for stochastic differential equations (SDEs). DLRA aims at approximating the solution as a linear combination of a small number of basis vectors with r ...

American Mathematical Society (AMS)2025

Get the Best of Both Worlds: Improving Accuracy and Transferability by Grassmann Class Representation

Haoqi Wang

We generalize the class vectors found in neural networks to linear subspaces (i.e., points in the Grassmann manifold) and show that the Grassmann Class Representation (GCR) enables simultaneous improvement in accuracy and feature transferability. In GCR, e ...

Ieee Computer Soc2023

Density estimation in RKHS with application to Korobov spaces in high dimensions

Fabio Nobile, Yoshihito Kazashi

A kernel method for estimating a probability density function from an independent and identically distributed sample drawn from such density is presented. Our estimator is a linear combination of kernel functions, the coefficients of which are determined b ...

2023

Short homology bases for hyperelliptic hyperbolic surfaces

Jürgpeter Buser

Given a hyperelliptic hyperbolic surface S of genus g >= 2, we find bounds on the lengths of homologically independent loops on S. As a consequence, we show that for any lambda is an element of (0, 1) there exists a constant N(lambda) such that every such ...

Hebrew Univ Magnes Press2023

Non-intrusive data-driven reduced-order modeling for time-dependent parametrized problems

Jan Sickmann Hesthaven, Junming Duan

Reduced-order models are indispensable for multi-query or real-time problems. However, there are still many challenges to constructing efficient ROMs for time-dependent parametrized problems. Using a linear reduced space is inefficient for time-dependent n ...

Academic Press Inc Elsevier Science2023

Distributed Lossy Computation with Structured Codes: From Discrete to Continuous Sources

Michael Christoph Gastpar, Sung Hoon Lim, Adriano Pastore, Chen Feng

This paper considers the problem of distributed lossy compression where the goal is to recover one or more linear combinations of the sources at the decoder, subject to distortion constraints. For certain configurations, it is known that codes with algebra ...

2023

Diversity of radial spin textures in chiral materials

Oleg Yazyev, Alberto Crepaldi, Daniel Gosalbez Martinez

We introduce a classification of the radial spin textures in momentum space that emerge at the high-symmetry points in crystals characterized by nonpolar chiral point groups (D2, D3, D4, D6, T, O). Based on the symmetry constraints imposed by these point g ...

Amer Physical Soc2023

Robust Collaborative Learning with Linear Gradient Overhead

Rachid Guerraoui, Nirupam Gupta, Rafaël Benjamin Pinot, Le Nguyen Hoang, Sadegh Farhadkhani, John Stephan

Collaborative learning algorithms, such as distributed SGD (or D-SGD), are prone to faulty machines that may deviate from their prescribed algorithm because of software or hardware bugs, poisoned data or malicious behaviors. While many solutions have been ...

PLMR2023

Equivariant Neural Architectures for Representing and Generating Graphs

Clément Arthur Yvon Vignac

Graph machine learning offers a powerful framework with natural applications in scientific fields such as chemistry, biology and material sciences. By representing data as a graph, we encode the prior knowledge that the data is composed of a set of entiti ...

EPFL2023

Overflow-free compute memories for edge AI acceleration

David Atienza Alonso, Giovanni Ansaloni, Alexandre Sébastien Julien Levisse, Flavio Ponzina, Marco Antonio Rios

Compute memories are memory arrays augmented with dedicated logic to support arithmetic. They support the efficient execution of data-centric computing patterns, such as those characterizing Artificial Intelligence (AI) algorithms. These architectures can ...

2023

ALMOST EVERYWHERE NONUNIQUENESS OF INTEGRAL CURVES FOR DIVERGENCE-FREE SOBOLEV VECTOR FIELDS

Massimo Sorella

We construct divergence-free Sobolev vector fields in C([0,1];W-1,W-r(T-d;Rd)) with r < d and d\geq 2 which simultaneously admit any finite number of distinct positive solutions to the continuity equation. These vector fields are then shown to have at leas ...

Siam Publications2023

Quadratic serendipity element shape functions on general planar polygons

Xiaodong Wei

This paper proposes a method for the construction of quadratic serendipity element (QSE) shape functions on planar convex and concave polygons. Existing approaches for constructing QSE shape functions are linear combinations of the pair-wise products of ge ...

ELSEVIER SCIENCE SA2022

Identifiability and Generalizability from Multiple Experts in Inverse Reinforcement Learning

Volkan Cevher, Luca Viano, Paul Thierry Yves Rolland, Boris Nikolov

While Reinforcement Learning (RL) aims to train an agent from a reward function in a given environment, Inverse Reinforcement Learning (IRL) seeks to recover the reward function from observing an expert’s behavior. It is well known that, in general, variou ...

2022

Linear and nonlinear substructured Restricted Additive Schwarz iterations and preconditioning

Tommaso Vanzan

Iterative substructuring Domain Decomposition (DD) methods have been extensively studied, and they are usually associated with nonoverlapping decompositions. It is less known that classical overlapping DD methods can also be formulated in substructured for ...

2022

Dynamical low rank approximation for uncertainty quantification of time-dependent problems

Eva Vidlicková

The quantification of uncertainties can be particularly challenging for problems requiring long-time integration as the structure of the random solution might considerably change over time. In this respect, dynamical low-rank approximation (DLRA) is very a ...

EPFL2022

Structure-preserving approaches and data-driven closure modeling for model order reduction

Nicolò Ripamonti

In this thesis, we propose model order reduction techniques for high-dimensional PDEs that preserve structures of the original problems and develop a closure modeling framework leveraging the Mori-Zwanzig formalism and recurrent neural networks. Since high ...

EPFL2022