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      Safe and Efficient Robot Action Planning in the Presence of Unconcerned Humans

      January 22, 2025

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      Computer Science
      Mathematics
      Robotics
      Optimization and Control
      Robotics
      Optimization and Control
      This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage ...

      Subtree Distances, Tight Spans and Diversities

      January 22, 2025

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      Mathematics
      Computer Science
      Quantitative Biology
      Metric Geometry
      Discrete Mathematics
      Populations and Evolution
      Metric Geometry
      Discrete Mathematics
      Populations and Evolution
      Metric embeddings are central to metric theory and its applications. Here we consider embeddings of a different sort: maps from a set to subsets of a metric space so that distances between points are approximated by minimal distances betwee...

      Polyhedral Collision Detection via Vertex Enumeration

      January 22, 2025

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      Computer Science
      Computational Geometry
      Robotics
      Computational Geometry
      Robotics
      Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for handlin...

      SRMT: Shared Memory for Multi-agent Lifelong Pathfinding

      January 22, 2025

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      Computer Science
      Machine Learning
      Artificial Intelligence
      Multiagent Systems
      Machine Learning
      Artificial Intelligence
      Multiagent Systems
      Multi-agent reinforcement learning (MARL) demonstrates significant progress in solving cooperative and competitive multi-agent problems in various environments. One of the principal challenges in MARL is the need for explicit prediction of ...

      Symbolic Control for Autonomous Docking of Marine Surface Vessels

      January 22, 2025

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      Electrical Engineering and Systems Science
      Computer Science
      Systems and Control
      Systems and Control
      Systems and Control
      Systems and Control
      Docking marine surface vessels remains a largely manual task due to its safety-critical nature. In this paper, we develop a hierarchical symbolic control architecture for autonomous docking maneuvers of a dynamic positioning vessel, to prov...

      S-LoRA: Scalable Low-Rank Adaptation for Class Incremental Learning

      January 22, 2025

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      Computer Science
      Machine Learning
      Machine Learning
      Continual Learning (CL) with foundation models has recently emerged as a promising approach to harnessing the power of pre-trained models for sequential tasks. Existing prompt-based methods generally use a gating mechanism to select relevan...

      An unusual BPS equation

      January 22, 2025

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      Physics
      High Energy Physics - Theory
      General Relativity and Quantum Cosmology
      High Energy Physics - Theory
      General Relativity and Quantum Cosmology
      We prove a conjectured relation between the energy-momentum and the displacement norm of superconformal defects. The proof completes earlier results, and shows that supersymmetry identifies two natural notions of brane tension in Anti-de Si...

      Direct Measurement of the 39^{39}39Ar Half-life from 3.4 Years of Data with the DEAP-3600 Detector

      January 22, 2025

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      Physics
      Nuclear Experiment
      Instrumentation and Detectors
      Nuclear Experiment
      Instrumentation and Detectors
      The half-life of 39^{39}39Ar is measured using the DEAP-3600 detector located 2 km underground at SNOLAB. In 2016-2020, DEAP-3600 used a target mass of (3269 ±\pm± 24) kg of liquid argon distilled from the atmosphere in a direct-detection dar...

      Reducing Size Bias in Sampling for Infectious Disease Spread on Networks

      January 22, 2025

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      Quantitative Biology
      Populations and Evolution
      Populations and Evolution
      Epidemiological models can aid policymakers in reducing disease spread by predicting outcomes based on disease dynamics and contact network characteristics. Accurate calibration of these models requires representative samples of contact net...

      Corecursive Coding of High Computational Derivatives and Power Series

      January 22, 2025

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      Computer Science
      Programming Languages
      Data Structures and Algorithms
      Programming Languages
      Data Structures and Algorithms
      We discuss the functional lazy techniques in generation and handling of arbitrarily long sequences of derivatives of numerical expressions in one ``variable''; the domain to which the paper belongs is usually nicknamed ``Automatic different...
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