Related papers: Maintaining Arrays of Contiguous Objects
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
We consider the question of defining interleaving metrics on generalized persistence modules over arbitrary preordered sets. Our constructions are functorial, which implies a form of stability for these metrics. We describe a large class of…
We consider online competitive algorithms for the problem of collecting weighted items from a dynamic set S, when items are added to or deleted from S over time. The objective is to maximize the total weight of collected items. We study the…
While bodies change over time and trends vary, most store-bought clothing comes in fixed sizes and styles and fails to adapt to these changes. Alterations can enable small changes to otherwise static garments, but these changes often…
Understanding which inductive biases could be helpful for the unsupervised learning of object-centric representations of natural scenes is challenging. In this paper, we systematically investigate the performance of two models on datasets…
In this paper, we consider dynamic matroids, where elements can be inserted to or deleted from the ground set over time. The independent sets change to reflect the current ground set. As matroids are central to the study of many…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
In this paper, we propose a novel ensembling technique for deep neural networks, which is able to drastically reduce the required memory compared to alternative approaches. In particular, we propose to extract multiple sub-networks from a…
We consider assortment and inventory planning problems with dynamic stockout-based substitution effects, and without replenishment, in two different settings: (1) Customers can see all available products when they arrive, a typical scenario…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
We introduce a natural online allocation problem that connects several of the most fundamental problems in online optimization. Let $M$ be an $n$-point metric space. Consider a resource that can be allocated in arbitrary fractions to the…
We segment moving objects in videos by ranking spatio-temporal segment proposals according to "moving objectness": how likely they are to contain a moving object. In each video frame, we compute segment proposals using multiple…
In a probabilistic cellular automaton in which all local transitions have positive probability, the problem of keeping a bit of information indefinitely is nontrivial, even in an infinite automaton. Still, there is a solution in 2…
In topological data analysis persistence modules are used to distinguish the legitimate topological features of a finite data set from noise. Interleavings between persistence modules feature prominantly in the analysis. One can show that…
Reallocation scheduling is one of the most fundamental problems in various areas such as supply chain management, logistics, and transportation science. In this paper, we introduce the reallocation problem that models the scheduling in…
Modular Decomposition focuses on repeatedly identifying a module M (a collection of vertices that shares exactly the same neighbourhood outside of M) and collapsing it into a single vertex. This notion of exactitude of neighbourhood is very…
We propose a novel algorithm to efficiently generate hidden structures to support arrangements of floating rigid objects. Our optimization finds a small set of rods and wires between objects and each other or a supporting surface (e.g.,…
In this paper, a new and novel data structure is proposed to dynamically insert and delete segments. Unlike the standard segment trees[3], the proposed data structure permits insertion of a segment with interval range beyond the interval…
Data management applications store their data using structured files in which data are usually sorted to serve indexing and queries. However, in-place insertions and removals of data are not naturally supported in a file's address space. To…
Object permanence is the concept that objects do not suddenly disappear in the physical world. Humans understand this concept at young ages and know that another person is still there, even though it is temporarily occluded. Neural networks…