Publications (8)
A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
Sangli Teng, Kaito Iwasaki, William Clark +4
This work generalizes the classical metriplectic formalism to model Hamiltonian systems with nonconservative dissipation. Classical metriplectic representations allow for the descr…
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
Xihang Yu, Heng Yang
This paper presents SIM-Sync, a certifiably optimal algorithm that estimates camera trajectory and 3D scene structure directly from multiview image keypoints. SIM-Sync fills the ga…
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
Hyungtae Lim, Nathan Hughes, Xihang Yu +5
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph…
UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation
Jiahang Tu, Fengyu Yang, Chenyang Ma +8
Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across diverse modalities. However, existing research rarely extends this para…
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu, Sangli Teng, Theodor Chakhachiro +7
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully propri…
APISR: Anime Production Inspired Real-World Anime Super-Resolution
Boyang Wang, Fengyu Yang, Xihang Yu +2
While real-world anime super-resolution (SR) has gained increasing attention in the SR community, existing methods still adopt techniques from the photorealistic domain. In this pa…