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Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
The implementation of reliable and efficient geometric algorithms is a challenging task. The reason is the following conflict: On the one hand, computing with rounded arithmetic may question the reliability of programs while, on the other…
A diagram is introduced for visualizing matrix product states which makes transparent a connection between matrix product factorizations of states and operators, and complex weighted finite state automata. It is then shown how one can…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
Partitioned cellular automata are known to be an useful tool to simulate linear and nonlinear problems in physics, specially because they allow for a straightforward way to define conserved quantities and reversible dynamics. Here we show…
For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
Finite automata are used to encode geometric figures, functions and can be used for image compression and processing. The original approach is to represent each point of a figure in $\mathbb{R}^n$ as a convolution of its $n$ coordinates…
Much algorithmic research in NLP aims to efficiently manipulate rich formal structures. An algorithm designer typically seeks to provide guarantees about their proposed algorithm -- for example, that its running time or space complexity is…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…