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In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…
Place embeddings generated from human mobility trajectories have become a popular method to understand the functionality of places. Place embeddings with high spatial resolution are desirable for many applications, however, downscaling the…
We propose a new approach for multi-agent collective construction, based on the idea of reversible ramps. Our ReRamp algorithm utilizes reversible side-ramps to generate construction plans for ramped block structures higher and larger than…
Recent years have seen a proliferation of new digital products for the efficient management of indoor spaces, with important applications like emergency management, virtual property showcasing and interior design. These products rely on…
Machine learning has enabled significant benefits in diverse fields, but, with a few exceptions, has had limited impact on computer architecture. Recent work, however, has explored broader applicability for design, optimization, and…
An urban planner might design the spatial layout of transportation amenities so as to improve accessibility for underserved communities -- a fairness objective. However, implementing such a design might trigger processes of neighborhood…
Digitalization of existing buildings and the creation of 3D BIM models for them has become crucial for many tasks. Of particular importance are floor plans, which contain information about building layouts and are vital for processes such…
We describe a linear-time algorithm that finds a planar drawing of every graph of a simple line or pseudoline arrangement within a grid of area O(n^{7/6}). No known input causes our algorithm to use area \Omega(n^{1+\epsilon}) for any…
Computer graphics, comprising both raster and vector components, is a fundamental part of modern science, industry, and digital communication. While raster graphics offer ease of use, its pixel-based structure limits scalability. Vector…
Wayfinding signs play an important role in guiding users to navigate in a virtual environment and in helping pedestrians to find their ways in a real-world architectural site. Conventionally, the wayfinding design of a virtual environment…
The ability to form complex plans based on raw visual input is a litmus test for current capabilities of artificial intelligence, as it requires a seamless combination of visual processing and abstract algorithmic execution, two…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
Factorio is a 2D construction and management simulation video game about building automated factories to produce items of increasing complexity. A core feature of the game is its blueprint system, which allows players to easily save and…
Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…
We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…
Transit networks often have existing infrastructure that cannot be modified when designing new lines for the network. This paper provides an algorithm to generate a line within a transit network without changing any existing lines or…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is essential for robust indoor navigation and mapping. These…
Many natural systems exhibit cyclo-stationary behavior characterized by periodic forcing such as annual and diurnal cycles. We present a data-driven method leveraging recent advances in score-based generative modeling to construct…
We present a method for generating arrangements of indoor furniture from human-designed furniture layout data. Our method creates arrangements that target specified diversity, such as the total price of all furniture in the room and the…