Publications associées à On the Generation of a Variety of Grasps

The effect of smooth parametrizations on nonconvex optimization landscapes

We develop new tools to study landscapes in nonconvex optimization. Given one optimization problem, we pair it with another by smoothly parametrizing the domain. This is either for practical purposes (e.g., to use smooth optimization algorithms with good g ...

Springer Heidelberg2024

Perturbed Utility Stochastic Traffic Assignment

Rui Yao

This paper develops a fast algorithm for computing the equilibrium assignment with the perturbed utility route choice (PURC) model. Without compromise, this allows the significant advantages of the PURC model to be used in large-scale applications. We form ...

Informs2024

BENIGN LANDSCAPES OF LOW-DIMENSIONAL RELAXATIONS FOR ORTHOGONAL SYNCHRONIZATION ON GENERAL GRAPHS

Nicolas Boumal

Orthogonal group synchronization is the problem of estimating n elements Z(1),& mldr;,Z(n) from the rxr orthogonal group given some relative measurements R-ij approximate to Z(i)Z(j)(-1). The least-squares formulation is nonconvex. To avoid its local minim ...

Siam Publications2024

The complexity of quantum support vector machines

Stefan Woerner, Gian Florin Gentinetta

Quantum support vector machines employ quantum circuits to define the kernel function. It has been shown that this approach offers a provable exponential speedup compared to any known classical algorithm for certain data sets. The training of such models c ...

Verein Forderung Open Access Publizierens Quantenwissenschaf2024

A method and system for optimizing design, implantation, and stimulation protocols of electrodes stimulating the nervous system

Silvestro Micera, Simone Romeni

A method for optimizing at least one of a geometry, an implantation procedure, and/or stimulation protocol of one or more electrodes for an electrical stimulation of a target structure in a nervous system of a living being by a computer device, the method ...

2024

Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Sonomyographic Prosthetic Interacion: Online Simultaneous and Proportional Control of Wrist and Hand Motions Using Semisupervised Learning

Xingchen Yang

Human hands play a very important role in daily object manipulation. Current prosthetic hands are capable of mimicking most functions of the human hand, but how to interact with prosthetic hands based on human intentions remains an open problem. In this ar ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Vehicle-to-Grid for Reliable Frequency Regulation

Dirk Lauinger

Future low-carbon societies will need to store vast amounts of electricity to stabilize electricity grids and to power electric vehicles. Vehicle-to-grid allows vehicle owners and grid operators to share the costs of electricity storage by making the batte ...

EPFL2022

Locally active globally stable dynamical systems: Theory, learning, and experiments

Aude Billard, Nadia Barbara Figueroa Fernandez

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

SAGE PUBLICATIONS LTD2022

An Accelerated First-Order Method for Non-convex Optimization on Manifolds

Nicolas Boumal, Christopher Arnold Criscitiello

We describe the first gradient methods on Riemannian manifolds to achieve accelerated rates in the non-convex case. Under Lipschitz assumptions on the Riemannian gradient and Hessian of the cost function, these methods find approximate first-order critical ...

SPRINGER2022

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Yufei Hao

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

FRONTIERS MEDIA SA2021

Good Vibrations and Unknown Excitations

Dalia Salem Hassan Fahmy El Badawy

Inspired by the human ability to localize sounds, even with only one ear, as well as to recognize objects using active echolocation, we investigate the role of sound scattering and prior knowledge in regularizing ill-posed inverse problems in acoustics. In ...

EPFL2020

SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints

Teguh Santoso Lembono

In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only ...

2019

Optimal Design of the Propulsion System of a Hyperloop Capsule

Mario Paolone, Denis Tudor

In this paper, we focus on the assessment of the optimal design of the propulsion system of an energyautonomous Hyperloop capsule supplied by batteries. The novelty in this paper is to propose a sizing method for this specific transportation system, and an ...

2019

Data-driven Measurement Designs for Magnetic Resonance Imaging

Baran Gözcü

Despite being a powerful medical imaging technique which does not emit any ionizing radiation, magnetic resonance imaging (MRI) always had the major problem of long scanning times that can take up to an hour depending on the application. It also requires u ...

EPFL2019

The Minimization of Public Facilities With Enhanced Genetic Algorithms Using War Elimination

Michael Mark

In this paper, we focus on the problem of minimizing a network of state facilities that provide essential public services (schools, offices, and hospitals). The goal is to reduce the size of the network in order to minimize the costs associated with it. Ho ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Head motion measurement and correction using FID navigators

Tobias Kober, Maryna Volodimirivna Waszak

Purpose: To develop a novel framework for rapid, intrinsic head motion measurement in MRI using FID navigators (FIDnavs) from a multichannel head coil array. ...

WILEY2019

Learning Trajectory Distributions for Assisted Teleoperation and Path Planning

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities o ...

2019

Constrained optimization applied to multiscale integrative modeling

Giorgio Elikem Tamo

Multiscale integrative modeling stands at the intersection between experimental and computational techniques to predict the atomistic structures of important macromolecules. In the integrative modeling process, the experimental information is often integra ...

EPFL2018

New Algorithmic Paradigms for Discrete Problems using Dynamical Systems and Polynomials

Damian Mateusz Straszak

Optimization is a fundamental tool in modern science. Numerous important tasks in biology, economy, physics and computer science can be cast as optimization problems. Consider the example of machine learning: recent advances have shown that even the most s ...

EPFL2018