Related papers: Minimizing Running Buffers for Tabletop Object Rea…
We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Kinetic transport equations are notoriously difficult to simulate because of their complex multiscale behaviors and the need to numerically resolve a high dimensional probability density function. Past literature has focused on building…
While a broad range of techniques have been proposed to tackle distribution shift, the simple baseline of training on an $\textit{undersampled}$ balanced dataset often achieves close to state-of-the-art-accuracy across several popular…
Recalibrating probabilistic classifiers is vital for enhancing the reliability and accuracy of predictive models. Despite the development of numerous recalibration algorithms, there is still a lack of a comprehensive theory that integrates…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on augmenting the task planning domain with richer…
Round Robin (RR) scheduling algorithm is a preemptive scheduling algorithm. It is designed especially for time sharing Operating System (OS). In RR scheduling algorithm the CPU switches between the processes when the static Time Quantum…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
Real-time multi-label video classification on embedded devices is constrained by limited compute and energy budgets. Yet, video streams exhibit structural properties such as label sparsity, temporal continuity, and label co-occurrence that…
This paper focuses on a novel and challenging detection scenario: A majority of true objects/instances is unlabeled in the datasets, so these missing-labeled areas will be regarded as the background during training. Previous art on this…
In the reordering buffer management problem, a sequence of requests must be executed by a service station, where a cost occurs for each pair of consecutive requests with different attributes. A reordering buffer management algorithm aims to…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
Our work is motivated by the challenges presented in preparing arrays of atoms for use in quantum simulation. The recently-developed process of loading atoms into traps results in approximately half of the traps being filled. To consolidate…
Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…
We consider a variant of the classical Bin Packing Problem, called Fully Dynamic Bin Packing. In this variant, items of a size in $(0,1]$ must be packed in bins of unit size. In each time step, an item either arrives or departs from the…