Related papers: Dynamic Space Packing
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
Stochastic dual dynamic programming (SDDP) is a state-of-the-art method for solving multi-stage stochastic optimization, widely used for modeling real-world process optimization tasks. Unfortunately, SDDP has a worst-case complexity that…
The energy landscape for soft sphere packings exists in a high-dimensional space and plays host to an astronomical number of local minima in a hierarchical and ultrametric arrangement. Each point in the landscape is a configuration that can…
3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
To accomplish tasks in human-centric indoor environments, robots need to represent and understand the world in terms of objects and their attributes. We refer to this attribute-based representation as a world model, and consider how to…
SPM (Sand Pile Model) is a simple discrete dynamical system used in physics to represent granular objects. It is deeply related to integer partitions, and many other combinatorics problems, such as tilings or rewriting systems. The…
Dissipative particle dynamics (DPD) is a novel particle method for mesoscale modeling of complex fluids. DPD particles are often thought to represent packets of real atoms, and the physical scale probed in DPD models are determined by the…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
The one-dimensional random trap model with a power-law distribution of mean sojourn times exhibits a phenomenon of dynamical localization in the case where diffusion is anomalous: The probability to find two independent walkers at the same…
One of the basic problems in discrete geometry is to determine the most efficient packing of congruent replicas of a given convex set $K$ in the plane or in space. The most commonly used measure of efficiency is density. Several types of…
Dynamic programming (DP) is an algorithmic design paradigm for the efficient, exact solution of otherwise intractable, combinatorial problems. However, DP algorithm design is often presented in an ad-hoc manner. It is sometimes difficult to…
System dynamics (SD) is an effective approach for helping reveal the temporal behavior of complex systems. Although there have been recent developments in expanding SD to include systems' spatial dependencies, most applications have been…
Clustering aims to group unlabeled objects based on similarity inherent among them into clusters. It is important for many tasks such as anomaly detection, database sharding, record linkage, and others. Some clustering methods are taken as…
Partition selection, or set union, is an important primitive in differentially private mechanism design: in a database where each user contributes a list of items, the goal is to publish as many of these items as possible under differential…
Modern computational science and engineering applications are being improved by the advances in scientific machine learning. Data-driven methods such as Dynamic Mode Decomposition (DMD) can extract coherent structures from spatio-temporal…
Stochastic partition models tailor a product space into a number of rectangular regions such that the data within each region exhibit certain types of homogeneity. Due to constraints of partition strategy, existing models may cause…
We consider the persistent exclusion process in which a set of persistent random walkers interact via hard-core exclusion on a hypercubic lattice in $d$ dimensions. We work within the ballistic regime whereby particles continue to hop in…
The TASEP (totally asymmetric simple exclusion process) is a basic model for an one-dimensional interacting particle system with non-reversible dynamics. Despite the simplicity of the model it shows a very rich and interesting behaviour. In…
We investigate the problem of packing identical hard objects on regular lattices in d dimensions. Restricting configuration space to parallel alignment of the objects, we study the densest packing at a given aspect ratio X. For rectangles…