36 citations · 96 across the 15 of their papers we have counts for
16 papers
Photonic realization of an electromagnetic cavity field with uniform mirror motion
A. R. Urzúa, I. Ramos-Prieto, R. Román-Ancheyta +4
We perform a detailed mathematical study of the effective Hamiltonian describing a non-stationary electromagnetic cavity field, introduced by C.~K.~Law, in the presence of uniform…
Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization
Seung Hyun Kim, Heng-Sheng Chang, Kimia Kazemi +2
Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains challenging. To address this, we in…
Transformer-like Inference from Optimal Control
Aditya Kudre, Heng-Sheng Chang, Prashant G. Mehta
Decoder-only transformers compute the conditional probability of the next token from a sequence of past observations. This paper derives, from first principles, inference architect…
Duality Theory for Non-Markovian Linear Gaussian Models
Aditya Kudre, Heng-Sheng Chang, Prashant G. Mehta
This work develops a duality theory for partially observed linear Gaussian models in discrete time. The state process evolves according to a causal but non-Markovian (or higher-ord…
Differentiable Filtering for Learning Hidden Markov Models
Reginald Zhiyan Chen, Heng-Sheng Chang, Prashant G. Mehta
Hidden Markov Models (HMMs) are fundamental for modeling sequential data, yet learning their parameters from observations remains challenging. Classical methods like the Baum-Welch…
What can we learn from signals and systems in a transformer? Insights for probabilistic modeling and inference architecture
Heng-Sheng Chang, Prashant G. Mehta
In the 1940s, Wiener introduced a linear predictor, where the future prediction is computed by linearly combining the past data. A transformer generalizes this idea: it is a nonlin…
Digital twins for the design, interactive control, and deployment of modular, fiber-reinforced soft continuum arms
Seung Hyun Kim, Jiamiao Guo, Arman Tekinalp +9
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong no…
Dual Filter: A Transformer-like Inference Architecture for Hidden Markov Models
Heng-Sheng Chang, Prashant G. Mehta
This paper presents a mathematical framework for causal nonlinear prediction in settings where observations are generated from an underlying hidden Markov model (HMM). Both the pro…
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm
Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim +9
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the p…
Interacting Particle Systems for Fast Linear Quadratic RL
Anant A Joshi, Heng-Sheng Chang, Amirhossein Taghvaei +2
This paper is concerned with the design of algorithms based on systems of interacting particles to represent, approximate, and learn the optimal control law for reinforcement learn…
Hierarchical control and learning of a foraging CyberOctopus
Chia-Hsien Shih, Noel Naughton, Udit Halder +5
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-l…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies
Seung Hyun Kim, Heng-Sheng Chang, Chia-Hsien Shih +5
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple came…
Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova +4
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work…
Optimal Control of a Soft CyberOctopus Arm
Tixian Wang, Udit Halder, Heng-Sheng Chang +2
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…