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Matroids are a fundamental object of study in combinatorial optimization. Three closely related and important problems involving matroids are maximizing the size of the union of $k$ independent sets (that is, $k$-fold matroid union),…
The label shift problem refers to the supervised learning setting where the train and test label distributions do not match. Existing work addressing label shift usually assumes access to an \emph{unlabelled} test sample. This sample may be…
Databases need to allocate and free blocks of storage on disk. Freed blocks introduce holes where no data is stored. Allocation systems attempt to reuse such deallocated regions in order to minimize the footprint on disk. If previously…
Solving multi-label recognition (MLR) for images in the low-label regime is a challenging task with many real-world applications. Recent work learns an alignment between textual and visual spaces to compensate for insufficient image labels,…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…
We consider several extensions of the fractional bin packing problem, a relaxation of the traditional bin packing problem where the objects may be split across multiple bins. In these extensions, we introduce load-balancing constraints…
For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…
In container terminal yards, the Container Rehandling Problem (CRP) involves rearranging containers between stacks under specific operational rules, and it is a pivotal optimization challenge in intelligent container scheduling systems.…
We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
Several embedded application domains for reconfigurable systems tend to combine frequent changes with high performance demands of their workloads such as image processing, wearable computing and network processors. Time multiplexing of…
We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics…
Multi-label submodular Markov Random Fields (MRFs) have been shown to be solvable using max-flow based on an encoding of the labels proposed by Ishikawa, in which each variable $X_i$ is represented by $\ell$ nodes (where $\ell$ is the…
Consumer-electronics systems are becoming increasingly complex as the number of integrated applications is growing. Some of these applications have real-time requirements, while other non-real-time applications only require good average…
We consider the file maintenance problem (also called the online labeling problem) in which n integer items from the set {1,...,r} are to be stored in an array of size m >= n. The items are presented sequentially in an arbitrary order, and…
This paper presents an approach for reducing the memory requirements of dataflow applications, while minimizing the execution period when deployed on a many-core target. Often, straightforward implementations of dataflow applications suffer…