Related papers: SDF-Pack: Towards Compact Bin Packing with Signed-…

Federated learning increasingly operates in a large-model regime where communication, memory, and computation are all scarce. Typically, non-IID client data induce drift that degrades the stability and performance of local training.…

Centroid-based methods including k-means and fuzzy c-means are known as effective and easy-to-implement approaches to clustering purposes in many applications. However, these algorithms cannot be directly applied to supervised tasks. This…

This paper applies techniques from algebraic and differential geometry to determine how to best pack points in real projective spaces. We present a computer-assisted proof of the optimality of a particular 6-packing in…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…

We present new approximation schemes for bin packing based on the following two approaches: (1) partitioning the given problem into mostly identical sub-problems of constant size and then construct a solution by combining the solutions of…

In this work, we study the square min-sum bin packing problem (SMSBPP), where a list of square items has to be packed into indexed square bins of dimensions $1 \times 1$ with no overlap between the areas of the items. The bins are indexed…

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

Cutting and packing problems are present in many, at first glance unconnected, areas, therefore it's beneficial to have a good understanding of their underlying structure, to select proper techniques for finding solutions. Cutting and…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…

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…

In this paper, we present a disassemble-and-pack approach for a mechanism to seek a box which contains total mechanical parts with high space utilization. Its key feature is that mechanism contains not only geometric shapes but also…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…

In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments. Previous methods either oversimplify object shapes, which…

This study addresses the challenge of ensuring safe spacecraft proximity operations, focusing on collision avoidance between a chaser spacecraft and a complex-geometry target spacecraft under disturbances. To ensure safety in such…

We consider the problem of reconfiguring a set of physical objects into a desired target configuration, a typical (sub)task in robotics and automation, arising in product assembly, packaging, stocking store shelves, and more. In this paper…

Rasterization based methods have recently enabled high-quality novel view synthesis at real-time rates, but their underlying volumetric primitives do not expose a direct, globally consistent surface representation, leaving sur face…