Related papers: An Improved Solution for Restricted and Uncertain …
While extensive research on query evaluation has achieved consistent improvements in the time complexity of algorithms, the space complexity of query evaluation has been largely ignored. This is a particular challenge in settings with…
Procrustes problems are matrix approximation problems searching for a~transformation of the given dataset to fit another dataset. They find applications in numerous areas, such as factor and multivariate analysis, computer vision,…
Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…
This paper develops a computational model of paraphrase under which text modification is carried out reluctantly; that is, there are external constraints, such as length or readability, on an otherwise ideal text, and modifications to the…
There has never been a more exciting time for the future of quantum computing than now. Near-term quantum computing usage is now the next XPRIZE. With that challenge in mind we have explored a new approach as a hybrid quantum-classical…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…
Tabled Constraint Logic Programming is a powerful execution mechanism for dealing with Constraint Logic Programming without worrying about fixpoint computation. Various applications, e.g in the fields of program analysis and model checking,…
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…
This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robust forward invariant tubes is introduced, which admit a…
We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they…
Capacity constrained optimal transport is a variant of optimal transport, which adds extra constraints on the set of feasible couplings in the original optimal transport problem to limit the mass transported between each pair of source and…
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large…
The variation of spectral subspaces for linear self-adjoint operators under an additive bounded perturbation is considered. The objective is to estimate the norm of the difference of two spectral projections associated with isolated parts…
Constraint Satisfaction Problem on finite sets is known to be NP-complete in general but certain restrictions on the constraint language can ensure tractability. It was proved that if a constraint language has a weak near unanimity…
We explore a multiple-stage variant of the min-max robust selection problem with budgeted uncertainty that includes queries. First, one queries a subset of items and gets the exact values of their uncertain parameters. Given this…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…