Related papers: Visual scoping operations for physical assembly
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…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
We propose using Vision-Language Models (VLMs) for macro placement in chip floorplanning, a complex optimization task that has recently shown promising advancements through machine learning methods. Because human designers rely heavily on…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
We study planning with submodular objective functions, where instead of maximizing the cumulative reward, the goal is to maximize the objective value induced by a submodular function. Our framework subsumes standard planning and submodular…
Image collage is a very useful tool for visualizing an image collection. Most of the existing methods and commercial applications for generating image collages are designed on simple shapes, such as rectangular and circular layouts. This…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object…
Capability planning problems are pervasive throughout many areas of human interest with prominent examples found in defense and security. Planning provides a unique context for optimization that has not been explored in great detail and…
The article proposes an n-dimensional mathematical model of the visual representation of a linear programming problem. This model makes it possible to use artificial neural networks to solve multidimensional linear optimization problems,…
Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visual goal state. It has become increasingly important in…
Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the…
This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…
Intelligent physical systems as embodied cognitive systems must perform high-level reasoning while concurrently managing an underlying control architecture. The link between cognition and control must manage the problem of converting…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Graph vertex ordering is widely employed in spatial data analysis, especially in urban analytics, where street graphs serve as spatial discretization for modeling and simulation. It is also crucial for visualization, as many methods require…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
Multiview camera setups have proven useful in many computer vision applications for reducing ambiguities, mitigating occlusions, and increasing field-of-view coverage. However, the high computational cost associated with multiple views…