Tootfinder

Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Alireza Ramezani, Morteza Gharib
https://arxiv.org/abs/2507.23203

Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity, we use the multi-modal ability in our legged-aerial platform, the Husky Beta, to perform thruster-assisted walking. This robot has thrusters on each of its sagittal knee joints which can be used to stabilize its frontal dynamic as it walks. In this work, we pe…

Foundations for Energy-Aware Zero-Energy Devices: From Energy Sensing to Adaptive Protocols
Onel L. A. L\'opez, Mateen Ashraf, Samer Nasser, Gabriel M. de Jesus, Ritesh Kumar Singh, Miltiadis C. Filippou, Jeroen Famaey
https://arxiv.org/abs/2507.22740

Foundations for Energy-Aware Zero-Energy Devices: From Energy Sensing to Adaptive Protocols
Zero-energy devices (ZEDs) are key enablers of sustainable Internet of Things networks by operating solely on harvested ambient energy. Their limited and dynamic energy budget calls for protocols that are energy-aware and intelligently adaptive. However, designing effective energy-aware protocols for ZEDs requires theoretical models that realistically reflect device constraints. Indeed, existing approaches often oversimplify key aspects such as energy information (EI) acquisition, task-level va…

Collective communication in a transparent world: Phase transitions in a many-body Potts model and social-quantum duality
Pawat Akarapipattana, Sergei Nechaev, Bogdan Slavov
https://arxiv.org/abs/2508.20267

Collective communication in a transparent world: Phase transitions in a many-body Potts model and social-quantum duality
We consider the Schelling-like social competition reflected in "dynamics of opinions" among groups of agents ("communities") in a highly transparent world. Specifically, we investigate a $q$-state Potts spin system with competing two- and three-body interactions on a complete graph. Agents interact through pairwise repulsion (opposing opinions) between different communities and three-body attraction (shared opinions) within the same community. In the thermodynamic limit, we identify variants of…

Learning Real-World Acrobatic Flight from Human Preferences
Colin Merk, Ismail Geles, Jiaxu Xing, Angel Romero, Giorgia Ramponi, Davide Scaramuzza
https://arxiv.org/abs/2508.18817

Learning Real-World Acrobatic Flight from Human Preferences
Preference-based reinforcement learning (PbRL) enables agents to learn control policies without requiring manually designed reward functions, making it well-suited for tasks where objectives are difficult to formalize or inherently subjective. Acrobatic flight poses a particularly challenging problem due to its complex dynamics, rapid movements, and the importance of precise execution. In this work, we explore the use of PbRL for agile drone control, focusing on the execution of dynamic maneuve…

A Koopman Operator Framework for Nonlinear Epidemic Dynamics: Application to an SIRSD Model
Achraf Zinihi, Matthias Ehrhardt, Moulay Rchid Sidi Ammi
https://arxiv.org/abs/2508.16766

A Koopman Operator Framework for Nonlinear Epidemic Dynamics: Application to an SIRSD Model
We develop and analyze an SIRSD epidemic model, which extends the classical SIR framework by incorporating waning immunity and disease-induced mortality. A rigorous well-posedness analysis ensures the existence, uniqueness, positivity, and boundedness of solutions, guaranteeing the model's epidemiological feasibility. To facilitate theoretical investigations and data-driven modeling, we reformulated the system in normalized variables. To capture and predict complex nonlinear epidemic dynamics, …

A new class of regularized preconditioners for double saddle-point problems
Achraf Badahmane
https://arxiv.org/abs/2508.19469 https://arxiv.org/pdf/2508.19…

A new class of regularized preconditioners for double saddle-point problems
The block structure of double saddle-point problems has prompted extensive research into efficient preconditioners. This paper introduces a novel class of three-by-three block preconditioners tailored for such systems from the time-dependent Maxwell equations or liquid crystal director modeling. The main motivation of this work is to highlight the limitations of recent preconditioners under high Reynolds numbers, as the original studies did not explore this scenario, and to demonstrate that our…

Correlation Enhanced Autonomous Quantum Battery Charging via Structured Reservoirs
Achraf khoudiri, Khadija El Anouz, Abderrahim El Allati
https://arxiv.org/abs/2508.18086 https…

Correlation Enhanced Autonomous Quantum Battery Charging via Structured Reservoirs
We study the charging dynamics of a quantum battery coupled to a structured reservoir composed of two qubits, each in thermal equilibrium with its own bosonic bath. The structured reservoir interacts with a charger battery model through three distinct configurations: (I) direct coupling between the reservoir qubits and the battery, (II) common coupling between the reservoir qubits, the charger, and the battery, and (III) common coupling between the reservoir qubits and the charger, together wit…

Flow-dependent tagging of $^{214}$Pb decays in the LZ dark matter detector
J. Aalbers, D. S. Akerib, A. K. Al Musalhi, F. Alder, C. S. Amarasinghe, A. Ames, T. J. Anderson, N. Angelides, H. M. Ara\'ujo, J. E. Armstrong, M. Arthurs, A. Baker, S. Balashov, J. Bang, J. W. Bargemann, E. E. Barillier, K. Beattie, T. Benson, A. Bhatti, T. P. Biesiadzinski, H. J. Birch, E. Bishop, G. M. Blockinger, B. Boxer, C. A. J. Brew, P. Br\'as, S. Burdin, M. C. Carmona-Benitez, M. Carter, A. Cha…

Flow-dependent tagging of $^{214}$Pb decays in the LZ dark matter detector
The LUX-ZEPLIN (LZ) experiment is searching for dark matter interactions in a liquid xenon time projection chamber (LXe-TPC). This article demonstrates how control of the flow state in the LXe-TPC enables the identification of pairs of sequential alpha-decays, which are used to map fluid flow and ion drift in the liquid target. The resulting transport model is used to tag $^{214}$Pb beta-decays, a leading background to dark matter signals in LZ. Temporally evolving volume selections, at a cost …

Generation of Quantum Entanglement in Autonomous Thermal Machines: Effects of Non-Markovianity, Hilbert Space Structure, and Quantum Coherence
Achraf Khoudiri, Khadija El Anouz, Abderrahim El Allati
https://arxiv.org/abs/2508.18056

Generation of Quantum Entanglement in Autonomous Thermal Machines: Effects of Non-Markovianity, Hilbert Space Structure, and Quantum Coherence
We present a theoretical investigation of entanglement generation in an external quantum system interacting with a quantum autonomous thermal machine (QATM) under a non-Markovian dynamics. Indeed, the QATM is composed of two non-coupled qubits. Each qubit is coupled to an independent thermal reservoir, where each reservoir interacts with an external system of two additional non-coupled qubits. By analyzing the Hilbert space structure, energy level configurations, and temperature gradients, we d…

Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
Gerald Brantner
https://arxiv.org/abs/2508.08258 https://arxiv.org/pdf/2508.08…

Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in both trajectory optimization for planning and control during execution. This is particularly challenging due to humanoids' high degree-of-freedom count and associated exponentially scaling complexities, which makes planning on the explicit equations of motio…