Related papers: Rubik Tables and Object Rearrangement

The era of large deep learning models has given rise to advanced training strategies such as 3D parallelism and the ZeRO series. These strategies enable various (re-)configurable execution plans for a training job, which exhibit remarkably…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

We consider the problem of reconfiguring a set of physical objects into a desired target configuration, a typical (sub)task in robotics and automation, arising in product assembly, packaging, stocking store shelves, and more. In this paper…

Matrix reordering permutes the rows and columns of a matrix to reveal meaningful visual patterns, such as blocks that represent clusters. A comprehensive collection of matrices, along with a scoring method for measuring the quality of…

In information visualization, the position of symbols often encodes associated data values. When visualizing data elements with both a numerical and a categorical dimension, positioning in the categorical axis admits some flexibility. This…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

The unrestricted block relocation problem is an important optimization problem encountered at terminals, where containers are stored in stacks. It consists in determining the minimum number of container moves so as to empty the considered…

For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…

This paper considers single-machine scheduling problems in which a given solution, i.e. an ordered set of jobs, has to be improved as much as possible by re-sequencing the jobs. The need for rescheduling may arise in different contexts,…

We propose the redistribution-reconfiguration (red-rec) algorithm to prepare large configurations of atoms using arrays of dynamic optical traps. Red-rec exploits simple heuristics and exact subroutines to solve atom reconfiguration…

In the reordering buffer problem (RBP), a server is asked to process a sequence of requests lying in a metric space. To process a request the server must move to the corresponding point in the metric. The requests can be processed slightly…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

We introduce a novel quantum computing heuristic for solving the irregular strip packing problem, a significant challenge in optimizing material usage across various industries. This problem involves arranging a set of irregular polygonal…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…

We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics…

In this paper we investigate the problem of simultaneously allocating orders and mobile storage racks to static pickers. Here storage racks are allocated to pickers to enable them to pick all of the products for the orders that have been…

We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…

Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table,…

Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…