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Tree-structured multi-task architectures have been employed to jointly tackle multiple vision tasks in the context of multi-task learning (MTL). The major challenge is to determine where to branch out for each task given a backbone model to…
The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pruning if the current path is obstructed by nearby moving…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
In Opportunistic Networks (OppNets), the dissemination of information can only rely on transient pairwise radio contacts between mobile devices (peers). Designing distributed applications that can run in such conditions is a challenge, but…
Arguments about correctness of a concurrent data structure are typically carried out by using the notion of linearizability and specifying the linearization points of the data structure's procedures. Such arguments are often cumbersome as…
The use of machine learning algorithms in finance, medicine, and criminal justice can deeply impact human lives. As a consequence, research into interpretable machine learning has rapidly grown in an attempt to better control and fix…
Input distribution shift presents a significant problem in many real-world systems. Here we present Xenovert, an adaptive algorithm that can dynamically adapt to changes in input distribution. It is a perfect binary tree that adaptively…
Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose behavior may change based on factors such as traffic density,…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
Today's communication networks have stringent availability requirements and hence need to rapidly restore connectivity after failures. Modern networks thus implement various forms of fast reroute mechanisms in the data plane, to bridge the…
Recombining trinomial trees are a workhorse for modeling discrete-event systems in option pricing, logistics, and feedback control. Because each node stores a state-dependent quantity, a depth-$D$ tree naively yields $\mathcal{O}(3^{D})$…
This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
Merge trees are fundamental structures in topological data analysis. Interleaving distance is a widely accepted metric for comparing merge trees, with applications in visualization and scientific computing. While a greedy algorithm exists…
High-performance multi-core software typically uses concurrent data structures. Tests for such data structures have significantly smaller state spaces than the entire software, making it feasible to model check them. However, dynamic memory…
Data management systems have traditionally been designed to support either long-running analytics queries or short-lived transactions, but an increasing number of applications need both. For example, online games, socio-mobile apps, and…
Arrival of multicore systems has enforced a new scenario in computing, the parallel and distributed algorithms are fast replacing the older sequential algorithms, with many challenges of these techniques. The distributed algorithms provide…
Distributed applications often deal with data with different consistency requirements: while a post in a social network only requires weak consistency, the user balance in turn has strong correctness requirements, demanding mutations to be…
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…