Sökresultat

In this paper, we provide the following simple equivalent condition for a nonsymmetric Algebraic Riccati Equation to admit a stabilizing cone-preserving solution: an associated coefficient matrix must be stable. The result holds under the assumption that said matrix be cross-positive on a proper cone, and it both extends and completes a corresponding sufficient condition for nonnegative matrices i

When deploying deep neural networks on robots or other physical systems, the learned model should reliably quantify predictive uncertainty. A reliable uncertainty allows downstream modules to reason about the safety of its actions. In this work, we address metrics for uncertainty quantification. Specifically, we focus on regression tasks, and investigate Area Under Sparsification Error (AUSE), Cal

Contextual shifts are crucial for episodic memory, setting event boundaries during event segmentation. While lab research provides insights, it often lacks the complexity of real-world experiences. We addressed this gap by examining perceptual and conceptual boundaries using virtual reality (VR). Participants acted as salespeople, interacting with customers in a VR environment. Spatial boundaries

This study investigates how the brain encodes episodic events to support diverse memory functions. Thirty-six participants viewed movies simulating real-life interactions while EEG was recorded. They first watched movies featuring two characters (AB), followed by scenes where one original character interacted with a new one (BC). Memory was assessed for direct (AB and BC), indirect (AC) associatio

Language exposure and use (LEU) are widely viewed as key factors in multilingual development, and research highlights the importance of considering not just the frequency and quantity of LEU, but also contextual factors such as when and where a language is used, with whom and why. In this study, we illustrate the complexity of LEU in two contexts (study abroad and migration) by applying sequential

A multi-variable adaptive controller is derived as the explicit solution to a minimax dynamic game. The minimizing player selects the control action as a function of past state measurements and inputs. The maximizing player selects disturbances and model parameters for the underlying linear time-invariant dynamics. This leads to a Bellman equation that can be solved explicitly for the case with un

Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios.

In this paper, we speed up robust two-view relative pose from dense correspondences. Previous work has shown that dense matchers can significantly improve both accuracy and robustness in the resulting pose. However, the large number of matches comes with a significantly increased runtime during robust estimation in RANSAC. To avoid this, we propose an efficient match summarization scheme which pro

In this paper, we propose an approach that combines Vision Language Models (VLMs) and Behavior Trees (BTs) to address failures in robotics. Current robotic systems can handle known failures with pre-existing recovery strategies, but they are often ill-equipped to manage unknown failures or anomalies. We introduce VLMs as a monitoring tool to detect and identify failures during task execution. Addi

An adaptive controller is proposed and analyzed for the class of infinite-horizon optimal control problems in positive linear systems presented in (Ohlin et al., 2024b). This controller is derived from the solution of a “data-driven algebraic equation” constructed using the model-free Bellman equation from Q-learning. The equation is driven by data correlation matrices that do not scale with the n

A fundamental challenge in control theory is designing protocols that achieve synchronization in interconnected systems. This paper addresses positive synchronization on undirected graphs for homogeneous discrete-time positive systems. It introduces a static feedback protocol derived from the Linear Regulator problem, where the stabilizing policy is determined by solving an algebraic equation usin

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and propagate large errors to the final geometry. In this article, we refine two key steps of structure-from-motion by a direct alignment of low-level image inform

Recent methods on privacy-preserving image-based localization use a random line parameterization to protect the privacy of query images and database maps. The lifting of points to lines effectively drops one of the two geometric constraints traditionally used with point-to-point correspondences in structure-based localization. This leads to a significant loss of accuracy for the privacy-preserving

We verify safety of a nonlinear continuous-time system controlled by a neural network controller. The system is decomposed into low-dimensional subsystems connected in a feedback loop. Our application is a rocket landing, and open-loop properties of the two-dimensional altitude subsystem are verified using worst-case simulations. Closed-loop safety properties (crash-avoidance) of the full system a

This article briefly discusses the notion of input in a study abroad perspective, situating it against how input is treated in second language acquisition (SLA) more broadly, with a focus on methodological issues, operationalizations, and measurements. It further introduces three studies that examine input as studied in ‘the real wild’, and two studies that instead focus on ‘the digital wild’.

This letter gives a closed-form expression for an H-infinity optimal controller with diagonal gain matrix. This phenomenon occurs for certain network systems with acyclic graphs, and potential applications include irrigation networks. Moreover, the above is identified as a special case of a particular controller structure which is shown to be H-infinity optimal if the controller and the resulting

In this letter we derive fundamental limitations on the levels of H {2} and H {\infty {}} performance that can be achieved when controlling lossless systems. The results are applied to the swing equation power system model, where it is shown that the fundamental limit on the H {2} norm scales with the inverse of the harmonic mean of the inertias in the system. This indicates that power systems may