arXiv subjects

Joan Solà

Publications and source records attributed to Joan Solà.

At least 19 recordsLinked to original sources

arXiv2026

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers

We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) [3], on the CYN-1 sequence of the GrandTour Dataset [4]. Our goal is to give practitioners clear guidance on accuracy and computation time: we report long-term accuracy (Absolute Trajectory Error, ATE), short-term accuracy (translational and rotational Relative Pose Error, RPE), and per-update computation time on a fixed hardware/software stack. On this dataset, RPEs are broadly similar across methods, while IEKF and IS achieve a lower ATE than MUSE. Runtime results highlight the accuracy-latency trade-offs across the three approaches. In the discussion, we outline the evaluation choices used to ensure a fair comparison and analyze factors that influence short-horizon metrics. Overall, this study provides a concise snapshot of accuracy and cost, helping readers choose an estimator that fits their application constraints, with all evaluation code and documentation released open-source at https://github.com/iit-DLSLab/state_estimation_benchmark for full reproducibility.

cs.RO↗

arXiv2026

LIMOncello: Iterated Error-State Kalman Filter on the SGal(3) Manifold for Fast LiDAR-Inertial Odometry

This work introduces LIMOncello, a tightly coupled LiDAR-Inertial Odometry system that models 6-DoF motion on the $\mathrm{SGal}(3)$ manifold within an iterated error-state Kalman filter backend. Compared to state representations defined on $\mathrm{SO}(3)\times\mathbb{R}^6$, the use of $\mathrm{SGal}(3)$ provides a coherent and numerically stable discrete-time propagation model that helps limit drift in low-observability conditions. LIMOncello also includes a lightweight incremental i-Octree mapping backend that enables faster updates and substantially lower memory usage than incremental kd-tree style map structures, without relying on locality-restricted search heuristics. Experiments on multiple real-world datasets show that LIMOncello achieves competitive accuracy while improving robustness in geometrically sparse environments. The system maintains real-time performance with stable memory growth and is released as an extensible open-source implementation at https://github.com/CPerezRuiz335/LIMOncello.

cs.RO↗

arXiv2023

Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation

Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The full-body dynamics, along with the prediction capability of the optimal control problem (OCP) solved at the core of the controller, allows to actuate the robot in line with its dynamics. This fact enhances the robot capabilities and allows, e.g., to perform intricate maneuvers at high dynamics while optimizing the amount of energy used. Despite the many similarities between humanoids or quadrupeds and UAMs, full-body torque-level nMPC has rarely been applied to UAMs. This paper provides a thorough description of how to use such techniques in the field of aerial manipulation. We give a detailed explanation of the different parts involved in the OCP, from the UAM dynamical model to the residuals in the cost function. We develop and compare three different nMPC controllers: Weighted MPC, Rail MPC, and Carrot MPC, which differ on the structure of their OCPs and on how these are updated at every time step. To validate the proposed framework, we present a wide variety of simulated case studies. First, we evaluate the trajectory generation problem, i.e., optimal control problems solved offline, involving different kinds of motions (e.g., aggressive maneuvers or contact locomotion) for different types of UAMs. Then, we assess the performance of the three nMPC controllers, i.e., closed-loop controllers solved online, through a variety of realistic simulations. For the benefit of the community, we have made available the source code related to this work.

cs.RO↗

arXiv2023

Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion

This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be outfitted with torque-actuated limbs of diverse architecture, allowing for whole-body dynamic control. As a result, Borinot can perform agile tasks such as aggressive or acrobatic maneuvers with the participation of the whole-body dynamics. The limbs attached to Borinot can be utilized in various ways; during contact, they can be used as legs to create contact-based locomotion, or as arms to manipulate objects. In free flight, they can be used as tails to contribute to dynamics, mimicking the movements of many animals. This allows for any hybridization of these dynamic modes, making Borinot an ideal open-source platform for research on hybrid aerial-contact agile motion. To demonstrate the key capabilities of Borinot in terms of agility with hybrid motion modes, we have fitted a planar 2DoF limb and implemented a whole-body torque-level model-predictive-control. The result is a capable and adaptable platform that, we believe, opens up new avenues of research in the field of agile robotics. Interesting links\footnote{Documentation: \url{www.iri.upc.edu/borinot}}\footnote{Video: \url{https://youtu.be/Ob7IIVB6P_A}}.

cs.RO↗

arXiv2021

A micro Lie theory for state estimation in robotics

A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has spread over diverse areas of science and technology many years later. In robotics, we are recently experiencing an important trend in its usage, at least in the fields of estimation, and particularly in motion estimation for navigation. Yet for a vast majority of roboticians, Lie groups are highly abstract constructions and therefore difficult to understand and to use. This may be due to the fact that most of the literature on Lie theory is written by and for mathematicians and physicists, who might be more used than us to the deep abstractions this theory deals with. In estimation for robotics it is often not necessary to exploit the full capacity of the theory, and therefore an effort of selection of materials is required. In this paper, we will walk through the most basic principles of the Lie theory, with the aim of conveying clear and useful ideas, and leave a significant corpus of the Lie theory behind. Even with this mutilation, the material included here has proven to be extremely useful in modern estimation algorithms for robotics, especially in the fields of SLAM, visual odometry, and the like. Alongside this micro Lie theory, we provide a chapter with a few application examples, and a vast reference of formulas for the major Lie groups used in robotics, including most jacobian matrices and the way to easily manipulate them. We also present a new C++ template-only library implementing all the functionality described here.

cs.RO↗

arXiv2020

String-Inspired Running Vacuum, the "Vacuumon", and the Swampland Criteria

We elaborate further on the compatibility of the "vacuumon potential" that characterises the inflationary phase of the Running Vacuum Model (RVM) with the Swampland criteria. The work is motivated by the fact that, as demonstrated recently by the authors [1-3], the RVM framework can be derived as an effective gravitational field theory stemming from underlying microscopic (critical) string theory models with gravitational anomalies, involving condensation of primordial gravitational waves. Although believed to be a classical scalar field description, not representing a fully fledged quantum field, nonetheless we show here that the vacuumon potential satisfies certain Swampland criteria for the relevant regime of parameters and field range. We link the criteria to the Gibbons-Hawking entropy that has been argued to characterise the RVM during the de Sitter phase. These results imply that the vacuumon may, after all, admit under certain conditions, a rôle as a quantum field during the inflationary (almost de Sitter) phase of the running vacuum. The conventional slow-roll interpretation of this field, however, fails just because it satisfies the Swampland criteria. The RVM effective theory derived from the low-energy effective action of string theory does, however, successfully describe inflation thanks to the $\sim H^4$ terms induced by the gravitational anomalous condensates. In addition, the stringy version of the RVM involves the Kalb-Ramond (KR) axion field, which, in contrast to the vacuumon, does perfectly satisfy the slow-roll condition. We conclude that the vacuumon description is not fully equivalent to the stringy formulation of the RVM.

gr-qc↗

arXiv2020

High Speed Event Camera TRacking

Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work,we explore the limits of this sensing technology and present an ultra-fast tracking algorithm able to estimate six-degree-of-freedom motion with dynamics over 25.8 g, at a throughput of 10 kHz,processing over a million events per second. Our method is capable of tracking either camera motion or the motion of an object in front of it, using an error-state Kalman filter formulated in a Lie-theoretic sense. The method includes a robust mechanism for the matching of events with projected line segments with very fast outlier rejection. Meticulous treatment of sparse matrices is applied to achieve real-time performance. Different motion models of varying complexity are considered for the sake of comparison and performance analysis

cs.CV↗

arXiv2020

Cosmology Intertwined III: $f σ_8$ and $S_8$

The standard $Λ$ Cold Dark Matter cosmological model provides a wonderful fit to current cosmological data, but a few tensions and anomalies became statistically significant with the latest data analyses. While these anomalies could be due to the presence of systematic errors in the experiments, they could also indicate the need for new physics beyond the standard model. In this Letter of Interest we focus on the tension of the Planck data with weak lensing measurements and redshift surveys, about the value of the matter energy density $Ω_m$, and the amplitude or rate of the growth of structure ($σ_8,fσ_8$). We list a few interesting models for solving this tension, and we discuss the importance of trying to fit with a single model a full array of data and not just one parameter at a time.

astro-ph.CO↗

arXiv2020

Cosmology Intertwined II: The Hubble Constant Tension

The current cosmological probes have provided a fantastic confirmation of the standard $Λ$ Cold Dark Matter cosmological model, that has been constrained with unprecedented accuracy. However, with the increase of the experimental sensitivity a few statistically significant tensions between different independent cosmological datasets emerged. While these tensions can be in portion the result of systematic errors, the persistence after several years of accurate analysis strongly hints at cracks in the standard cosmological scenario and the need for new physics. In this Letter of Interest we will focus on the $4.4σ$ tension between the Planck estimate of the Hubble constant $H_0$ and the SH0ES collaboration measurements. After showing the $H_0$ evaluations made from different teams using different methods and geometric calibrations, we will list a few interesting new physics models that could solve this tension and discuss how the next decade experiments will be crucial.

astro-ph.CO↗

arXiv2020

Cosmology Intertwined I: Perspectives for the Next Decade

The standard $Λ$ Cold Dark Matter cosmological model provides an amazing description of a wide range of astrophysical and astronomical data. However, there are a few big open questions, that make the standard model look like a first-order approximation to a more realistic scenario that still needs to be fully understood. In this Letter of Interest we will list a few important goals that need to be addressed in the next decade, also taking into account the current discordances present between the different cosmological probes, as the Hubble constant $H_0$ value, the $σ_8 - S_8$ tension, and the anomalies present in the Planck results. Finally, we will give an overview of upgraded experiments and next-generation space-missions and facilities on Earth, that will be of crucial importance to address all these questions.

astro-ph.CO↗

arXiv2020

Cosmology Intertwined IV: The Age of the Universe and its Curvature

A precise measurement of the curvature of the Universe is of primeval importance for cosmology since it could not only confirm the paradigm of primordial inflation but also help in discriminating between different early Universe scenarios. The recent observations, while broadly consistent with a spatially flat standard $Λ$ Cold Dark Matter ($Λ$CDM) model, are showing tensions that still allow (and, in some cases, even suggest) a few percent deviations from a flat universe. In particular, the Planck Cosmic Microwave Background power spectra, assuming the nominal likelihood, prefer a closed universe at more than 99\% confidence level. While new physics could be in action, this anomaly may be the result of an unresolved systematic error or just a statistical fluctuation. However, since a positive curvature allows a larger age of the Universe, an accurate determination of the age of the oldest objects provides a smoking gun in confirming or falsifying the current flat $Λ$CDM model.

astro-ph.CO↗

arXiv2018

Deconvolutional Networks for Point-Cloud Vehicle Detection and Tracking in Driving Scenarios

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However, DL research has not yet advanced much towards processing 3D point clouds from lidar range-finders. These sensors are very common in autonomous vehicles since, despite not providing as semantically rich information as images, their performance is more robust under harsh weather conditions than vision sensors. In this paper we present a full vehicle detection and tracking system that works with 3D lidar information only. Our detection step uses a Convolutional Neural Network (CNN) that receives as input a featured representation of the 3D information provided by a Velodyne HDL-64 sensor and returns a per-point classification of whether it belongs to a vehicle or not. The classified point cloud is then geometrically processed to generate observations for a multi-object tracking system implemented via a number of Multi-Hypothesis Extended Kalman Filters (MH-EKF) that estimate the position and velocity of the surrounding vehicles. The system is thoroughly evaluated on the KITTI tracking dataset, and we show the performance boost provided by our CNN-based vehicle detector over a standard geometric approach. Our lidar-based approach uses about a 4% of the data needed for an image-based detector with similarly competitive results.

cs.CV↗

arXiv2017

Quaternion kinematics for the error-state Kalman filter

This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the rotation group and its Lie structure, with formulations using both quaternions and rotation matrices. It makes special attention in the definition of rotation perturbations, derivatives and integrals. It provides numerous intuitions and geometrical interpretations to help the reader grasp the inner mechanisms of 3D rotation. The whole material is used to devise precise formulations for error-state Kalman filters suited for real applications using integration of signals from an inertial measurement unit (IMU).

cs.RO↗

arXiv2016

Running vacuum versus the $Λ$CDM

It is well-known that a constant $Λ$-term is a traditional building block of the concordance $Λ$CDM model. We show that this assumption is not necessarily the optimal one from the phenomenological point of view. The class of running vacuum models, with a possible running of the gravitational coupling G, are capable to fit the overall cosmological data SNIa+BAO+H(z)+LSS+BBN+CMB better than the $Λ$CDM, namely at a level of $\sim 3σ$ and with Akaike and Bayesian information criteria supporting a strong level of statistical evidence on this fact. Here we report on the results of such analysis.

gr-qc↗

arXiv2016

Thermodynamical aspects of running vacuum models

The thermal history of a large class of running vacuum models in which the effective cosmological term is described by a truncated power series of the Hubble rate, whose dominant term is $Λ(H) \propto H^{n+2}$, is discussed in detail. Specifically, by assuming that the ultra-relativistic particles produced by the vacuum decay emerge into space-time in such a way that its energy density $ρ_r \propto T^{4}$, the temperature evolution law and the increasing entropy function are analytically calculated. For the whole class of vacuum models explored here we findthat the primeval value of the comoving radiation entropy density (associated to effectively massless particles) starts from zero and evolves extremely fast until reaching a maximum near the end of the vacuum decay phase, where it saturates. The late time conservation of the radiation entropy during the adiabatic FRW phase also guarantees that the whole class of running vacuum models predicts thesame correct value of the present day entropy, $S_{0} \sim 10^{87-88}$ (in natural units), independently of the initial conditions. In addition, by assuming Gibbons-Hawking temperature as an initial condition, we find that the ratio between the late time and primordial vacuum energy densities is in agreement with naive estimates from quantum field theory, namely, $ρ_{Λ0}/ρ_{ΛI} \sim10^{-123}$. Such results are independent on the power $n$ and suggests that the observed Universe may evolve smoothly between two extreme, unstable, nonsingular de Sitter phases.

gr-qc↗

arXiv2015

Growth index of matter perturbations in running vacuum models

We derive for the first time the growth index of matter perturbations of the FLRW flat cosmological models in which the vacuum energy depends on redshift. A particularly well motivated model of this type is the so-called quantum field vacuum, in which apart from a leading constant term $Λ_0$ there is also a $H^{2}$-dependence in the functional form of vacuum, namely $Λ(H)=Λ_{0}+3ν(H^{2}-H^{2}_{0})$. Since $|ν|\ll1$ this form endows the vacuum energy of a mild dynamics which affects the evolution of the main cosmological observables at the background and perturbation levels. Specifically, at the perturbation level we find that the growth index of the running vacuum cosmological model is $γ_{Λ_{H}} \approx \frac{6+3ν}{11-12ν}$ and thus it nicely extends analytically the result of the $Λ$CDM model, $γ_Λ\approx 6/11$.

astro-ph.CO↗

arXiv2015

Fundamental Constants in Physics and Their Time Variation

There is no doubt that the field of Fundamental Constants in Physics and Their Time Variation is one of the hottest subjects in modern theoretical and experimental physics, with potential implications in all fundamental areas of physics research, such as particle physics, gravitation, astrophysics and cosmology. In this Special Issue, the state-of-the-art in the field is presented in detail.

hep-ph↗

arXiv2015

Nonsingular Decaying Vacuum Cosmology and Entropy Production

The thermodynamic behavior of a decaying vacuum cosmology describing the entire cosmological history evolving between two extreme (early and late time) de Sitter eras is investigated. The thermal evolution from the early de Sitter to the radiation phase is discussed in detail. The temperature evolution law and the increasing entropy function are analytically determined. The entropy of the effectively massless particles is initially zero but evolves continuously to the present day maximum value within the current Hubble radius, $S_0 \sim 10^{88}$ in natural units. By using the Gibbons-Hawking temperature relation for the de Sitter spacetime, it is found that the ratio between the primeval and the late time vacuum energy densities is $ρ_{vI}/ρ_{v0} \sim 10^{123}$, as required by some naive estimates from quantum field theory.

gr-qc↗