3 papers
math.ST2025
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…
eess.SP2024
Parameter Estimation on Homogeneous Spaces
Shiraz Khan, Gregory S. Chirikjian
The Fisher Information Metric (FIM) and the associated Cramér-Rao Bound (CRB) are fundamental tools in statistical signal processing, which inform the efficient design of experime…
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,…