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.SY2025
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…
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,…