1 citations · 2 across the 7 of their papers we have counts for
7 papers
Means of Random Variables in Lie Groups
Shiraz Khan, Jikai Ye, Gregory S. Chirikjian
The concepts of mean (i.e., average) and covariance of a random variable are fundamental in statistics, and are used to solve real-world problems such as those that arise in roboti…
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets
Jikai Ye, Wanze Li, Shiraz Khan +1
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing,…
Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective
Jikai Ye, Gregory S. Chirikjian
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via Mck…
Uncertainty Propagation on Unimodular Matrix Lie Groups
Jikai Ye, Amitesh S. Jayaraman, Gregory S. Chirikjian
This paper addresses uncertainty propagation on unimodular matrix Lie groups that have a surjective exponential map. We derive the exact formula for the propagation of mean and cov…
A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equati…
On the Inertial Rotational Brownian Motion of Arbitrarily Shaped Particles
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
This article reports the modeling of inertial rotational Brownian motion as an Ornstein-Uhlenbeck process evolving on the cotangent bundle of the rotation group, SO(3). The benefit…
Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Hongtao Wu, Jikai Ye, Xin Meng +2
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propos…