Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Adarsh Salagame | Summary: Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds […]


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Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang, Shreyansh Pitroda, Adarsh Salagame | Summary: Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum […]


Continue.. Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda, Eric Sihite, Alireza Ramezani | Summary: Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that […]


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Ultrafast optical control of charge orders in kagome metals

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Joel E. Moore | First 5 Authors: Yu-Ping Lin, Vidya Madhavan, Joel E. Moore, , | Summary: We show that ultrafast optical pump pulses provide effective control over charge orders in the kagome metals $A$V$_3$Sb$_5$ with $A=$ K, Rb, and Cs. Starting from the real charge density waves (rCDWs) at the $p$-type Van […]


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M-VAR: Decoupled Scale-wise Autoregressive Modeling for High-Quality Image Generation

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Feng Wang | First 5 Authors: Sucheng Ren, Yaodong Yu, Nataniel Ruiz, Feng Wang, Alan Yuille | Summary: There exists recent work in computer vision, named VAR, that proposes a new autoregressive paradigm for image generation. Diverging from the vanilla next-token prediction, VAR structurally reformulates the image generation into a coarse to fine […]


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Implementation of scalable suspended superinductors

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Irfan Siddiqi | First 5 Authors: Christian Jünger, Trevor Chistolini, Long B. Nguyen, Hyunseong Kim, Larry Chen | Summary: Superinductors have become a crucial component in the superconducting circuit toolbox, playing a key role in the development of more robust qubits. Enhancing the performance of these devices can be achieved by suspending the […]


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Coherent Magneto-Conductance Oscillations in Amorphous Topological Insulator Nanowires

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Joel E. Moore | First 5 Authors: Siddhant Mal, Elizabeth J. Dresselhaus, Joel E. Moore, , | Summary: Recent experiments on amorphous materials have established the existence of surface states similar to those of crystalline three-dimensional topological insulators (TIs). Amorphous topological insulators are also independently of interest for thermo-electric and other properties. To […]


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2D Theoretically Twistable Material Database

Posted by dbos Cornell, This Week: Nanoscience

Kavli Affiliate: Jie Shan | First 5 Authors: Yi Jiang, Urko Petralanda, Grigorii Skorupskii, Qiaoling Xu, Hanqi Pi | Summary: The study of twisted two-dimensional (2D) materials, where twisting layers create moir’e superlattices, has opened new opportunities for investigating topological phases and strongly correlated physics. While systems such as twisted bilayer graphene (TBG) and twisted […]


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Cross-Modal Consistency in Multimodal Large Language Models

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Xiang Zhang | First 5 Authors: Xiang Zhang, Senyu Li, Ning Shi, Bradley Hauer, Zijun Wu | Summary: Recent developments in multimodal methodologies have marked the beginning of an exciting era for models adept at processing diverse data types, encompassing text, audio, and visual content. Models like GPT-4V, which merge computer vision with […]


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Solving the Inverse Band-Structure Problem for Photonic Crystals

Posted by dbos Berkeley, This Week: Nanoscience

Kavli Affiliate: Feng Wang | First 5 Authors: Aditya Bahulikar, Feng Wang, Mustafa Cenk Gursoy, Rodrick Kuate Defo, | Summary: We present a symmetry-agnostic topology optimization framework for photonic-crystal structures based on computation of the photonic density of states in a manner analogous to $Gamma$-point integration. We provide a generalization of the approach that allows […]


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