Ⅹ. Harbor

1. First-Order Error Dynamics (PD control)1.1. Demo Case Study: Velocity Control of a Mass-Damper System Super Domain: Control Systems, Dynamics Type of Method: Error Dynamics Analysis 1.2. Problem Definition with Variables Notations Objective: Analyze the error dynamics of a system to predict how the system responds to a change from a desired state, focusing on velocity control. Variables: $\theta_e$: Error in position or angle. $\dot{\theta}_e$: Error in velocity. $m$: Mass of the object. $b$ ...

1. Spring-Damper System Analysis1.1. Demo Case Study: Vehicle Suspension System Design Super Domain: Mechanical Engineering and Dynamics Type of Method: Analytical Modeling 1.2. Problem Definition and Variables Objective: To design a vehicle suspension system that maximizes comfort by minimizing the impact of road irregularities on the vehicle’s passengers. Variables: $x(t)$: Displacement of the vehicle body or suspension component at time $t$. $m$: Mass of the vehicle or the portion of the ve ...

1. Motion Planning in Robotics1.1. Demo Case Study: Navigating an Autonomous Rover on Mars Super Domain: Motion Planning Type of Method: Pathfinding in Complex Environments 1.2. Problem Definition and Variables Objective: Plan collision-free motions for a rover from a start to a goal position among a set of obstacles on a Martian landscape. Variables: Environmental model, including terrain map and obstacle positions. Rover’s capabilities, including its movement constraints and geometry. 1.3. ...

1. Kinematic Tree, Kinematic Chain, and Forward Geometry and Backward Geometry in Robotics1.1. Demo Case Study: Robotic Arm for Assembly Line Tasks Super Domain: Kinematics in Robotics Type of Method: Kinematic Analysis and Control 1.2. Kinematic Tree and Kinematic Chain Objective: To model the structure and movement of a robotic arm. Kinematic Tree: Represents the hierarchical structure of a robot. Includes all possible movements and connections between different components. Kinematic Chain: ...

apt install libopenblas-dev bash setup.sh cue server

Notice Use CUE as baseline. Ideas Use information theory to explain the process. Plan Use uncertainty estimation method in CUE. Evaluate CUE on semantic kitti (outdoor), or scannet v2 (indoor). Extract uncertainty estimation method of CUE. Achieve socket communication for model inference for CUE model. Socket communication. Local small model training, calculate uncertainty information. Cloud large model training, with global feature map and compressed point cloud input. Deploy to e ...

Helpful Materials: GitHub repo https://github.com/ramdrop/cue https://github.com/NVIDIA/MinkowskiEngine

65f8e3b87362ab224b1b50bf77ce06905769e529ac2ce2fb173717936f4bfa951388d187066e6a12bd1c6d157f10db3adecc89270ab26a17b62b33adfe35a600ef14bcc92c15ac3a36355bc651ac1116d8b76dabf93abe7ed14183ac75daaf6fc1be0700cfd2178ea55d6309c8341eea0e9050f79c2b46c671b2dba154a73482ff830171670aba95110b17b417dddd39116bd91aa8c54c9c83b751e9c5b0641d58adfae255c3f17f3c0dc8edc16ce545041c165e318ca75ecfe7882b1a103a5663def4b1af7c27b5a52334405fc0427dc6b66e0d6cc1f20734e2174e0f2f243562f8740f2d45908ae4912f78220c1dcad40f07d63adaa9fea ...

65f8e3b87362ab224b1b50bf77ce06905769e529ac2ce2fb173717936f4bfa95dee07c63ee55b1eb7d727a3289677f4e6c7d915b8bb775ffe6f17610d75e729003d062c9929b5d7e2b2357d49e5017821c4a11b0da24150bb4470a4e6c4e31cd18e1532e3b26c4f331afe0aa816028e7ea886ad2178c547f9b634979c3cf99d538999ef6b6cc13e13e4467724aeaad00e44438048694d4244e758842624aa2219b354d29b2cc31e8014dbdccd278702c30fa6d796f2b864434c7909157cb71726c0454bae0fa840538502e50ab908152751e141c8cc2acbc1daa9ac8191a632917fa275c11b6c5466aef8a8dad0a8255e761cecbb6669d0c2 ...

65f8e3b87362ab224b1b50bf77ce06905769e529ac2ce2fb173717936f4bfa953ddf2337fef7e8935e7f6faf9d9e071ac3cb5cfd8a6a29534f7778efa6a511c8fccceb9b420be6b9286cc5b475cc232ac9c1dc968eb881fafd7baadefd30bfbce8e88068fec97fb003fbe6446cac9668ee7124e7239ed2224d1469d4be982454e51590022664b433e5eb55598b4ae2905b17eb80290120c011b2d642b9c86c70fdb896829f9df65e359e06ada9482ce8f37d3fc003a4b7227a8ed7234578d849a779fedcd81a538b6e4e2a19fe572f27ee068585dc84bb254a093c8e9d564a0d411f1a85228c937fa8b5f85a53497acd16f12fcebb24a165c ...

From subword units to n-grams: hierarchy of modelsDefining a hierarchy of models: we can compile different HMMs to create models of utterances We can do some pruning, remove some tokens while proceeding, reduce computation cost (Maybe Heuristic is also can be helpful in such case.) Conditional independence and the forward algorithmWe use the Markov property of HMMs (i.e. conditional independence assumptions) to make computing probabilities of observation sequences easier HMM tra ...

Hidden Markov Models for ASRIntro to Hidden Markov Models, comparison to DTW. dynamic time warping (DTW) Hidden state sequences and alignmentHidden state sequence, Trellis (i.e. lattice) representation of an HMM, aligning observations to states grid and lattice The Viterbi algorithm and token passingThe Viterbi algorithm can be computed on different data structures. The token passing version turns out to be very convenient for ASR.Tthese two different implementations are simply two different w ...

Gaussian distributions in modelsClassification model If features are highly correlate with each other, we can solve this correlation by rotating the axis, by PCA. Gaussian distribution of classification result of feature vector Decision boundary Cepstral Analysis, Mel-FilterbanksWe now start thinking about what a good representation of the acoustic signal should be, motivating the use Mel-Frequency Cepstral Coefficients (MFCCs). Since the feature in a feature vector is correlated, if we want to ...

Mission, scenarios and behaviorsTask: Navigate the robot itself from the current position to final destination on the map, without human intervention. Goal: find most efficient path (trajectory) in terms of time or distance travelled. Example Common Behavior Sets Speed tracking Deceleration to stop Stay stopped Yield Emergency stop Motion planning constraints Read more about vehicle dynamic. Objective functions in planning Supplementary Readings Motion Planning For Au ...