Scientific Publications of the University of Toulouse II Le Mirail
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MONSTRUEUSEMENT DÉSIRABLE : ÉNONCIATION LESBIENNE ET IMAGINAIRE SEXO-DISSIDENT. LE CAS DE SALVADORA MEDINA ONRUBIA ET ALFONSINA STORNI
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Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking
No full textThe objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect to the object, grasping the dynamically moving object, or co-manipulating the object together with a human. Fast and accurate 6D pose estimation is crucial to achieve smooth and stable robot control in such situations. The contributions of this work are three fold. First, we propose a new visual perception module that asynchronously combines accurate learning-based 6D object pose localizer and a high-rate model-based 6D pose tracker. The outcome is a low-latency accurate and temporally consistent 6D object pose estimation from the input video stream at up to 120 Hz. Second, we develop a visually guided robot arm controller that combines the new visual perception module with a torque-based model predictive control algorithm. Asynchronous combination of the visual and robot proprioception signals at their corresponding frequencies results in stable and robust 6D object pose guided robot arm control. Third, we experimentally validate the proposed approach on a challenging 6D pose estimation benchmark and demonstrate 6D object pose-guided control with dynamically moving objects on a real 7 DoF Franka Emika Panda robot
Chateaubriand face à la « révolution » d’Atala
No full textInternational audienceLancé dans les colonnes du Mercure de France" dirigé par Fontanes et un temps rattaché au "Génie du christianisme", le récit d' "Atala" a pour mission d'illustrer le renouveau catholique dans les lettres et dans les arts. Chateaubriand l'accompagne de préfaces mettant l'accent sur sa nouveauté, due à l'importance des descriptions du cadre exotique et à son style, mais il y démontre aussi sa fidélité durable à des principes de l'esthétique classique: il se rallie ainsi à l'idéal de la douleur maîtrisée prôné par Winckelmann et se montre hostile à une écriture chargée de détails, ce qui lui permet d'engager la polémique avec les écrivains du siècle précédent. Revenant dans les "Mémoires d'outre-tombe" sur ses débuts, il accentue la révolution littéraire représentée par "Atala", qui l'a désigné comme le chef de file du romantisme français, tout en continuant à rendre hommage aux maîtres qui l'ont formé
On the Casas-Alvero Conjecture
No full textInternational audienceThe Casas--Alvero conjecture predicts that every univariate polynomial over a field of characteristic zero having a common factor with each of its derivatives is a power of a linear polynomial. Let and let be the resultant of and , . The Casas-Alvero Conjecture is equivalent to saying that are ``independent'' in a certain sense, namely that the height in . In this paper we prove a very partial result in this direction : if then
On k-invariants for -categories
No full textInternational audienceEvery -category can be approximated by its tower of homotopy -categories. In this paper, we prove that the successive stages of this tower are classified by k-invariants, analogously to the classical Postnikov tower for spaces. Our proof relies on an abstract analysis of Postnikov-type towers equipped with k-invariants, and also yields a construction of k-invariants for algebras over -operads and enriched -categories
L’usage des œuvres dans la recherche-intervention : pour un accompagnement du changement émancipateur
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Cognitive Flexibility when Judging Health Risks on the Basis of Several Indices
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BFS-Based Canonical Codes for Generating Graphs with Constraint Programming
No full textInternational audienceWe consider the problem of generating all graphs that satisfy some given additional constraints (on vertex degrees, or cycle lengths, for example). Most previous works have proposed to generate canonical codes associated with adjacency matrices. In this paper, we consider canonical codes based on Breadth First Search (BFS), and we show how to generate them with Constraint Programming (CP): we introduce a set of basic constraints that must be satisfied by all canonical codes, thus breaking many symmetries, and we introduce a global constraint to break other symmetries. We illustrate the interest of our approach on connected claw-free cubic graphs, and show that it outperforms state-of-the-art CP and SAT Modulo Theory (SMT) approaches