Controlled Non
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Related Articles from SNS
SharpNet: Enhancing MLPs to Represent Functions with Controlled Non-differentiability
Announce Type: replace Abstract: Multi-layer perceptrons (MLPs) are a standard tool for learning and function approximation, but they inherently produce globally smooth outputs. Consequently, they struggle to represent functions that are continuous yet intentionally non-differentiable (i.e., functions with prescribed $C^0$ sharp features) without ad hoc post-processing. We present SharpNet, a modified MLP architecture that encodes user-specified sharp features by augmenting the network with...
Somatic cells non-autonomously control germline incomplete cytokinesis through FGF signaling
Across species, germ cells divide and differentiate as interconnected units, termed cysts. These cysts are generated through reiterative rounds of mitosis followed by incomplete cytokinesis to generate stable ring canals (RCs). Despite the ubiquity of germ cell incomplete cytokinesis, it is still unclear how this program is mechanistically regulated across multiple cell cycles to promote integrity of the cyst.
Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
arXiv:2605.30778v1 Announce Type: new Abstract: Long-horizon planning for non-prehensile robot manipulation is challenging due to underactuated and discontinuous interactions. We propose a hierarchical formulation of model predictive path integral (MPPI) control that guides robot-level planning with a separately computed object-level plan to achieve efficient long-horizon prediction. We first solve a simplified object-only problem, assuming the object can be actuated directly, and use the...
Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Announce Type: new Abstract: Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled sliding of items on a table. Among such tasks, those characterised by high-speed manipulation requirements and general sensitivity of the resulting hybrid dynamics are particularly hard to accomplish. Within these, juggling can be seen as a highly challenging maneuver to be solved.
Complex-gauge control of anomalous Floquet corner responses in a non-Hermitian physical-synthetic photonic lattice
Announce Type: cross Abstract: We propose a non-Hermitian Floquet photonic lattice formed by a physical resonator coordinate and a synthetic frequency coordinate. A two-step modulation protocol realizes a chiral walk in this physical-synthetic plane, with a real synthetic flux controlling loop interference and imaginary gauge fields controlling non-reciprocal envelopes. We show that anomalous corner pairs at quasienergies zero and \(\pi/T\) exhibit three distinct layers of physics.
Complex-gauge control of anomalous Floquet corner responses in a non-Hermitian physical-synthetic photonic lattice
arXiv:2606.07038v2 Announce Type: replace-cross Abstract: We propose a non-Hermitian Floquet photonic lattice formed by a physical resonator coordinate and a synthetic frequency coordinate. A two-step modulation protocol realizes a chiral walk in this physical-synthetic plane, with a real synthetic flux controlling loop interference and imaginary gauge fields controlling non-reciprocal envelopes. We show that anomalous corner pairs at quasienergies zero and \(\pi/T\) exhibit three distinct...
Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control
Announce Type: new Abstract: To enable an efficient interaction of non-communicating mobile robots in collision avoidance scenarios, we present a novel combined trajectory planning and prediction algorithm. Inverse optimal control is used to estimate unknown goal states of all robots based on observed past trajectories. Each robot also takes the perspective of other robots in considering self-prediction and solves a joint prediction problem using the estimated goal states.
Skyrmions in scalar fields of non-Hermitian optical microcavities: spontaneous formation, nonlinear control, and optical forces
Announce Type: new Abstract: Topological textures of light offer powerful routes for structuring optical fields, controlling wave transport, and manipulating matter. Skyrmions, long studied as topological solitons in vector fields, have recently been extended to scalar wave systems, including acoustics, hydrodynamics, and plasmonics. However, their realization in two-dimensional scalar wave propagation with nonlinearities and in quantum fluids remains uncharted.
Smooth Sampling-Based Model Predictive Control Using Deterministic Samples
arXiv:2601.03893v2 Announce Type: replace Abstract: Sampling-based model predictive control (MPC) is effective for nonlinear systems but often produces non-smooth control inputs due to random sampling. To address this issue, we extend the model predictive path integral (MPPI) framework with deterministic sampling and improvements from cross-entropy method (CEM)--MPC, such as iterative optimization, proposing deterministic sampling MPPI (dsMPPI). This combination leverages the exponential...
Differentiable Weightless Controllers: Learning Logic Circuits for Continuous Control
arXiv:2512.01467v2 Announce Type: replace Abstract: Controlling autonomous systems under real-world conditions often requires policies that can be evaluated with low latency and minimal energy consumption. Unfortunately, these conditions are at odds with the use of high-precision deep neural networks as controllers. In this work, we introduce Differentiable Weightless Controllers (DWCs), a symbolic-differentiable architecture that learns flexible, non-linear, yet highly efficient control...