Related papers: Space-Aware Reconfiguration
Many decision-making approaches rely on the exploration of solution spaces with regards to specified criteria. However, in complex environments, brute-force exploration strategies are usually not feasible. As an alternative, we propose the…
For a given scene, humans can easily reason for the locations and pose to place objects. Designing a computational model to reason about these affordances poses a significant challenge, mirroring the intuitive reasoning abilities of humans.…
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
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…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
Reconfiguration problems require finding a step-by-step transformation between a pair of feasible solutions for a particular problem. The primary concern in Theoretical Computer Science has been revealing their computational complexity for…
Spacecraft rendezvous enables on-orbit servicing, debris removal, and crewed docking, forming the foundation for a scalable space economy. Designing such missions requires rapid exploration of the tradespace between control cost and flight…
Unsupervised Domain Adaptation (UDA) aims to transfer the knowledge from the labeled source domain to the unlabeled target domain in the presence of dataset shift. Most existing methods cannot address the domain alignment and class…
Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional task planning methods are shown to be effective for…
I consider configuration spaces for $N$-body problems, gauge theories and for GR in both geometrodynamical and Ashtekar variables forms, including minisuperspace and inhomogeneous perturbations thereabout in the former case. These examples…
In this paper, we introduce a novel geometry-aware self-training framework for room layout estimation models on unseen scenes with unlabeled data. Our approach utilizes a ray-casting formulation to aggregate multiple estimates from…
This manuscript presents a series of my selected contributions to the topic of label-efficient learning in computer vision and remote sensing. The central focus of this research is to develop and adapt methods that can learn effectively…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative models such as Stable Diffusion can aid by generating…
We introduce a lightweight structure optimization approach for problems in which there is uncertainty in the force locations. Such uncertainty may arise due to force contact locations that change during use or are simply unknown a priori.…
In video surveillance, person re-identification is the task of searching person images in non-overlapping cameras. Though supervised methods for person re-identification have attained impressive performance, obtaining large scale cross-view…