Related papers: Visual scoping operations for physical assembly
A scalable graphical method is presented for selecting, and partitioning datasets for the training phase of a classification task. For the heuristic, a clustering algorithm is required to get its computation cost in a reasonable proportion…
How are people able to plan so efficiently despite limited cognitive resources? We aimed to answer this question by extending an existing model of human task decomposition that can explain a wide range of simple planning problems by adding…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Efficiently tackling combinatorial reasoning problems, particularly the notorious NP-hard tasks, remains a significant challenge for AI research. Recent efforts have sought to enhance planning by incorporating hierarchical high-level search…
We present VISPROG, a neuro-symbolic approach to solving complex and compositional visual tasks given natural language instructions. VISPROG avoids the need for any task-specific training. Instead, it uses the in-context learning ability of…
We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
Both biological and artificial self-assembly processes can take place by a range of different schemes, from the successive addition of identical building blocks, to hierarchical sequences of intermediates, all the way to the fully…
Novel view synthesis from images, for example, with 3D Gaussian splatting, has made great progress. Rendering fidelity and speed are now ready even for demanding virtual reality applications. However, the problem of assisting humans in…
The goal of image cropping is to identify visually appealing crops in an image. Conventional methods are trained on specific datasets and fail to adapt to new requirements. Recent breakthroughs in large vision-language models (VLMs) enable…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
A method is presented to exploit adaptive integration algorithms using importance sampling, like VEGAS, for the task of scanning theoretical predictions depending on a multi-dimensional parameter space. Usually, a parameter scan is…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Constructive visualization uses physical data units - tokens - to enable non-experts to create personalized visualizations engagingly. However, its physical nature limits efficiency and scalability. One potential solution to address this…
Similar to algorithms, which consume time and memory to run, hardware requires resources to function. For devices processing physical waves, implementing operations needs sufficient "space," as dictated by wave physics. How much space is…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…