Publications related to Reaching and grasping kitchenware objects

Aggregating Spatial and Photometric Context for Photometric Stereo

Photometric stereo, a computer vision technique for estimating the 3D shape of objects through images captured under varying illumination conditions, has been a topic of research for nearly four decades. In its general formulation, photometric stereo is an ...

EPFL2024

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Robust Differentiable SVD

Pascal Fua, Mathieu Salzmann, Zheng Dang, Wei Wang, Yinlin Hu

Eigendecomposition of symmetric matrices is at the heart of many computer vision algorithms. However, the derivatives of the eigenvectors tend to be numerically unstable, whether using the SVD to compute them analytically or using the Power Iteration (PI) ...

2021

EEG Correlates of Difficulty Levels in Dynamical Transitions of Simulated Flying and Mapping Tasks

David Atienza Alonso, José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Adriana Arza Valdes, Fabio Isidoro Tiberio Dell'Agnola, Ping-Keng Jao

Decoding the subjective perception of task difficulty may help improve operator performance, i.e., automatically optimize the task difficulty level. Here, we aim to decode a compound of cognitive states that covaries with the task difficulty level. We desi ...

2020

Turbulent patterns in wall-bounded shear flows: invariant solutions and their bifurcations

Florian Reetz

When laminar shear flows in large wall-bounded domains transition to turbulence, the flow exhibits spatio-temporally chaotic dynamics. Despite its chaotic dynamics, the flow may self-organize into characteristic spatially periodic patterns of unknown origi ...

EPFL2019

Learning Robust Features and Latent Representations for Single View 3D Pose Estimation of Humans and Objects

Bugra Tekin

Estimating the 3D poses of rigid and articulated bodies is one of the fundamental problems of Computer Vision. It has a broad range of applications including augmented reality, surveillance, animation and human-computer interaction. Despite the ever-growin ...

EPFL2018

Eigendecomposition-free Training of Deep Networks with Zero Eigenvalue-based Losses

Pascal Fua, Mathieu Salzmann, Kwang Moo Yi, Zheng Dang, Yinlin Hu, Fei Wang

Many classical Computer Vision problems, such as essential matrix computation and pose estimation from 3D to 2D correspondences, can be solved by ﬁnding the eigenvector corresponding to the smallest, or zero, eigenvalue of a matrix representing a linear sy ...

2018

Guidelines on nonlinear dynamic analysis for seismic design of steel moment frames

Dimitrios Lignos

Nonlinear dynamic (response history) analysis is being used increasingly in design practice for the performance-based seismic design of buildings. In contrast to nonlinear static analysis, dynamic analyses require more explicit modeling of cyclic response ...

2018

Dynamical Behavior and Stability Analysis of Hydromechanical Gates

Paolo Perona, Fabian Alexander Bernhard

This study revisits the stability of hydromechanical gates for upstream water surface regulation, also known as AMIL gates. AMIL gates are used in irrigation canals, where they are often installed in series. From the regulation perspective, instabilities a ...

American Society of Civil Engineers2017

Noether Theorems and Quantum Anomalies

Tudor Ratiu

A quantum anomaly is the breaking of symmetry with respect to some transformations after the quantization of a classical Hamiltonian or Lagrangian system. It is shown that both the Noether theorems (including their infinite-dimensional versions) and the ex ...

Springer Verlag2017