5 papers
Skeletons in Flow: Graph Structured Flow Matching for Human Motion Prediction
Yixuan Wang, Brandon C. Fallin, Warren E. Dixon
Human motion prediction requires diverse future trajectories that remain consistent with observed motion and the articulated physical structure of the body. Skeletal constraints re…
Time-Varying Data as Sheaves: an Invitation to Narratives
Wilmer Leal, Benjamin Merlin Bumpus, Jana K. Nickel +3
Modern science and engineering increasingly rely on time-varying data, yet the mathematical tools used to model temporal phenomena are often developed within separate disciplines,…
Parallel OctoMapping: A Scalable Framework for Enhanced Path Planning in Autonomous Navigation
Yihui Mao, Tian Tan, Xuehui Shen +2
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reli…
Riemannian Lyapunov Optimizer: A Unified Framework for Optimization
Yixuan Wang, Omkar Sudhir Patil, Warren E. Dixon
We introduce Riemannian Lyapunov Optimizers (RLOs), a family of optimization algorithms that unifies classic optimizers within one geometric framework. Unlike heuristic improvement…
Goal inference with Rao-Blackwellized Particle Filters
Yixuan Wang, Dan P. Guralnik, Warren E. Dixon
Inferring the eventual goal of a mobile agent from noisy observations of its trajectory is a fundamental estimation problem. We initiate the study of such intent inference using a…