Related papers: Space-Aware Reconfiguration
A typical open-plan office layout is unable to optimally host multiple collocated work activities, personal needs, and situational events, as its space exerts a range of environmental demands on workers in terms of maintaining their…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
Object placement aims to determine the appropriate placement (\emph{e.g.}, location and size) of a foreground object when placing it on the background image. Most previous works are limited by small-scale labeled dataset, which hinders the…
Recently, text-to-image diffusion models have demonstrated impressive ability to generate high-quality images conditioned on the textual input. However, these models struggle to accurately adhere to textual instructions regarding spatial…
Flexible pick-and-place is a fundamental yet challenging task within robotics, in particular due to the need of an object model for a simple target pose definition. In this work, the robot instead learns to pick-and-place objects using…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
This paper proposes an algorithmic framework for various reconfiguration problems using zero-suppressed binary decision diagrams (ZDDs), a data structure for families of sets. In general, a reconfiguration problem checks if there is a…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
This work tackles the unsupervised cross-domain object detection problem which aims to generalize a pre-trained object detector to a new target domain without labels. We propose an uncertainty-aware model adaptation method, which is based…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
The objective of constrained motion planning is to connect start and goal configurations while satisfying task-specific constraints. Motion planning becomes inefficient or infeasible when the configurations lie in disconnected regions,…
We introduce RACH-Space, an algorithm for labelling unlabelled data in weakly supervised learning, given incomplete, noisy information about the labels. RACH-Space offers simplicity in implementation without requiring hard assumptions on…
We aim to solve the problem of spatially localizing composite instructions referring to space: space grounding. Compared to current instance grounding, space grounding is challenging due to the ill-posedness of identifying locations…
For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…
Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…
Space is a circuit oriented, spatial programming language designed to exploit the massive parallelism available in a novel formal model of computation called the Synchronic A-Ram, and physically related FPGA and reconfigurable…
Object Transfiguration replaces an object in an image with another object from a second image. For example it can perform tasks like "putting exactly those eyeglasses from image A on the nose of the person in image B". Usage of exemplar…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…