Related papers: SDF-Pack: Towards Compact Bin Packing with Signed-…
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…
Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…
In this paper we propose a dynamic programming solution to the template-based recognition task in OCR case. We formulate a problem of optimal position search for complex objects consisting of parts forming a sequence. We limit the distance…
The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each task is costly and impractical. Unified representations…
We present a novel method, called NeuralUDF, for reconstructing surfaces with arbitrary topologies from 2D images via volume rendering. Recent advances in neural rendering based reconstruction have achieved compelling results. However,…
The ability to simultaneously track and reconstruct multiple objects moving in the scene is of the utmost importance for robotic tasks such as autonomous navigation and interaction. Virtually all of the previous attempts to map multiple…
Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…
Signed Distance Fields (SDFs) for surface representation are commonly generated offline and subsequently loaded into interactive applications like games. Since they are not updated every frame, they only provide a rigid surface…
Plane Geometry Diagram Synthesis has been a crucial task in computer graphics, with applications ranging from educational tools to AI-driven mathematical reasoning. Traditionally, we rely on manual tools (e.g., Matplotlib and GeoGebra) to…
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics…
In order to deal with the scaling problem of volumetric map representations we propose spatially local methods for high-ratio compression of 3D maps, represented as truncated signed distance fields. We show that these compressed maps can be…
In this paper, we consider the problem of partitioning a polygon into a set of connected disjoint sub-polygons, each of which covers an area of a specific size. The work is motivated by terrain covering applications in robotics, where the…
We consider the Bin Packing problem with a partition matroid constraint. The input is a set of items of sizes in $(0,1]$, and a partition matroid over the items. The goal is to pack all items in a minimum number of unit-size bins, such that…
Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…
Packing cost accounts for a large part of the e-commerce logistics cost. Mining the patterns of customer orders and designing suitable packing bins help to reduce operating cost. In the classical bin packing problem, a given set of…
Growing demand for sustainable logistics and higher space utilization, driven by e-commerce and urbanization, increases the need for storage systems that are both energy- and space-efficient. Compact storage systems aim to maximize space…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
The two-dimensional non-oriented bin packing problem with due dates packs a set of rectangular items, which may be rotated by 90 degrees, into identical rectangular bins. The bins have equal processing times. An item's lateness is the…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
In this paper, we propose ContactSDF, a method that uses signed distance functions (SDFs) to approximate multi-contact models, including both collision detection and time-stepping routines. ContactSDF first establishes an SDF using the…