Related papers: Space-Aware Reconfiguration
In this paper, a multi-modal vehicle positioning framework that jointly localizes vehicles with channel state information (CSI) and images is designed. In particular, we consider an outdoor scenario where each vehicle can communicate with…
The human visual system is able to recognize objects despite transformations that can drastically alter their appearance. To this end, much effort has been devoted to the invariance properties of recognition systems. Invariance can be…
Learning to insert an object instance into an image in a semantically coherent manner is a challenging and interesting problem. Solving it requires (a) determining a location to place an object in the scene and (b) determining its…
Domain adaptation from one data space (or domain) to another is one of the most challenging tasks of modern data analytics. If the adaptation is done correctly, models built on a specific data space become more robust when confronted to…
In the Minmax Set Cover Reconfiguration problem, given a set system $\mathcal{F}$ over a universe and its two covers $\mathcal{C}^\mathsf{start}$ and $\mathcal{C}^\mathsf{goal}$ of size $k$, we wish to transform $\mathcal{C}^\mathsf{start}$…
Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…
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…
Motion retargeting is a fundamental problem in computer graphics and computer vision. Existing approaches usually have many strict requirements, such as the source-target skeletons needing to have the same number of joints or share the same…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
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…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
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…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
To use heterogeneous hardware, programmers needed sufficient technical skills such as OpenMP, CUDA, and OpenCL. Therefore, I have proposed environment-adaptive software that enables high-performance operation by automatically converting and…
In order to tackle the difficulty associated with the ill-posed nature of the image registration problem, regularization is often used to constrain the solution space. For most learning-based registration approaches, the regularization…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…