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cs.RO2024
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,…
eess.SY2024
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…