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Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…
In this work, we present randomized compression algorithms for flat rank-structured matrices with shared bases, termed uniform Block Low-Rank (BLR) matrices. Our main contribution is a technique called tagging, which improves upon the…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Random reshuffling, which randomly permutes the dataset each epoch, is widely adopted in model training because it yields faster convergence than with-replacement sampling. Recent studies indicate greedily chosen data orderings can further…
Packing objects efficiently is a fundamental problem in logistics, warehouse automation, and robotics. While traditional packing solutions focus on geometric optimization, packing irregular, 3D objects presents significant challenges due to…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
Offline-to-Online Reinforcement Learning (O2O RL) faces a critical dilemma in balancing the use of a fixed offline dataset with newly collected online experiences. Standard methods, often relying on a fixed data-mixing ratio, struggle to…
The presence of missing values often reflects variations in data collection policies, which may shift across time or locations, even when the underlying feature distribution remains stable. Such shifts in the missingness distribution…
Multi-label learning deals with the classification problems where each instance can be assigned with multiple labels simultaneously. Conventional multi-label learning approaches mainly focus on exploiting label correlations. It is usually…
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…
In many applications, we need algorithms which can align partially overlapping point sets and are invariant to the corresponding transformations. In this work, a method possessing such properties is realized by minimizing the objective of…
In this paper, we study several important geometric optimization problems arising in machine learning. First, we revisit the Minimum Enclosing Ball (MEB) problem in Euclidean space $\mathbb{R}^d$. The problem has been extensively studied…
Current state-of-the-art solvers for mixed-integer programming (MIP) problems are designed to perform well on a wide range of problems. However, for many real-world use cases, problem instances come from a narrow distribution. This has…
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solving times. Recent work utilizing data-driven methods has…
Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…
This manuscript presents a series of my selected contributions to the topic of label-efficient learning in computer vision and remote sensing. The central focus of this research is to develop and adapt methods that can learn effectively…
Estimating the trajectories of multi-objects poses a significant challenge due to data association ambiguity, which leads to a substantial increase in computational requirements. To address such problems, a divide-and-conquer manner has…
In this article, we present a novel approach for block-structured adaptive mesh refinement (AMR) that is suitable for extreme-scale parallelism. All data structures are designed such that the size of the meta data in each distributed…
We consider the offline sorting buffer problem. The input is a sequence of items of different types. All items must be processed one by one by a server. The server is equipped with a random-access buffer of limited capacity which can be…
Recurrent neural networks (RNN) are popular for many computer vision tasks, including multi-label classification. Since RNNs produce sequential outputs, labels need to be ordered for the multi-label classification task. Current approaches…