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Trajectory Augmentation for Robust Neural Locomotion Controllers
(2024)Proceedings of the 19th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 1: GRAPP, HUCAPP and IVAPPNeural Locomotion Controllers are promising real-time character controllers that can learn directly from motion data. However, the current state of the art models suffer from artifacts such as Pose Blocking and Foot Skating caused by poor generalization to real world control signals. We show that this is due to training on unbalanced biased datasets with poor representation for many important gaits and transitions. To solve this poor data ...Conference Paper -
Reimagining Preventive Care and Digital Health: A Paradigm Shift in a Health Insurance’s Role
(2024)Proceedings of the 17th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: Scale-IT-upAmidst non-communicable diseases' substantial health and economic burdens, health insurance companies and digital health technologies (DHTs) are increasingly crucial in enabling preventive care and minimizing global health expenditure. This position paper explores the perspective of an innovation manager of a Swiss health insurer. The interview transcript was analyzed using thematic analysis. The results highlight the importance of current ...Conference Paper -
Perception of a Spatial Implausibility Caused by Seamless Covert Teleportation
(2024)Proceedings of the 19th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 1: GRAPP, HUCAPP and IVAPPThis paper explores human perception of spatial implausibility using seamless teleportation in circular and hexagonal closed-loop corridors. The impression of impossibility is generated by subtle teleporting the user within these corridors, thereby allowing them to unconsciously skip certain sections of them. Different levels of this ``impossibility’’ are presented by varying the percentage of skipping within these corridors, specifically ...Conference Paper -
Implementing web-based discrete choice experiments in transportation
(2024)Transportation Research Procedia ~ 12th International Conference on Transport Survey MethodsDiscrete choice experiments (DCE) are widely used in transport planning to elicit peoples' preferences for different alternatives and attributes. They rely on stated and/or revealed preference (SP/RP) data. Over the past years, web-based DCEs became popular in many disciplines. Yet, there is little literature on how to actually implement them. This paper provides a framework to implement DCEs in two ways, using the online survey platform ...Conference Paper -
Robust peak-to-peak gain analysis using integral quadratic constraints
(2023)IFAC-PapersOnLineThis work provides a framework to compute an upper bound on the robust peak-to-peak gain of discrete-time uncertain linear systems using integral quadratic constraints (IQCs). Such bounds are of particular interest in the computation of reachable sets and the ℓ1-norm, as well as when safety-critical constraints need to be satisfied pointwise in time. The use of ρ-hard IQCs with a terminal cost enables us to deal with a wide variety of ...Conference Paper -
Safe Optimization of an Industrial Refrigeration Process Using an Adaptive and Explorative Framework
(2023)IFAC-PapersOnLineReal-time optimization can play a key role for improving the performance of industrial processes, but it becomes challenging in cases where the process characteristics are uncertain, particularly when the uncertain characteristics impact safety-related constraints. In this study, we present an adaptive and explorative real-time optimization framework that can effectively learn the characteristics of an industrial refrigeration plant through ...Conference Paper -
Online convex optimization for constrained control of linear systems using a reference governor
(2023)IFAC-PapersOnLineIn this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost functions. The proposed controller is based on online convex optimization and a reference governor. In particular, we apply online gradient descent to track the time-varying and a priori unknown optimal steady state of the system. Moreover, we use a λ-contractive ...Conference Paper -
Data-Driven Behaviour Estimation in Parametric Games
(2023)IFAC-PapersOnLineA central question in multi-agent strategic games deals with learning the underlying utilities driving the agents' behaviour. Motivated by the increasing availability of large data-sets, we develop an unifying data-driven technique to estimate agents' utility functions from their observed behaviour, irrespective of whether the observations correspond to equilibrium configurations or to temporal sequences of action profiles. Under standard ...Conference Paper -
SOS Construction of Compatible Control Lyapunov and Barrier Functions
(2023)IFAC-PapersOnLineWe propose a novel approach to certify closed-loop stability and safety of a constrained polynomial system based on the combination of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). For polynomial systems that are affine in the control input, both classes of functions can be constructed via Sum Of Squares (SOS) programming. Using two versions of the Positivstellensatz we derive an SOS formulation seeking a rational ...Conference Paper -
Data-Driven Process Optimization of Fused Filament Fabrication based on In Situ Measurements
(2023)IFAC-PapersOnLine ~ 22nd IFAC World CongressThe tuning of fused filament fabrication parameters is notoriously challenging. We propose an autonomous data-driven method to select parameters based on in situ measurements. We use a laser sensor to evaluate the surface roughness of a printed part. We then correlate the roughness to the mechanical properties of the part, and show how print quality affects mechanical performance. Finally we use Bayesian optimization to search for optimal ...Conference Paper