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OR-constrained (ORC) graphical user interface layouts unify conventional constraint-based layouts with flow layouts, which enables the definition of flexible layouts that adapt to screens with different sizes, orientations, or aspect ratios…
We study adaptive approximation algorithms for general multivariate linear problems where the sets of input functions are non-convex cones. While it is known that adaptive algorithms perform essentially no better than non-adaptive…
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…
In eXplainable Constraint Solving (XCS), it is common to extract a Minimal Unsatisfiable Subset (MUS) from a set of unsatisfiable constraints. This helps explain to a user why a constraint specification does not admit a solution. Finding…
3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
This paper suggests integrating one-dimensional optimization methods to tackle diverse problems, emphasizing their significance in resolving practical issues and applying mathematical principles to real-world contexts. It focuses on…
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…
Building structured 3D scene layouts from a single image requires reconciling visual observations with physical and spatial constraints, a challenge that is difficult to address with direct prediction alone. In this work, we formulate…
Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in…
Augmented Reality (AR) is transforming the way we interact with virtual information in the physical world. By overlaying digital content in real-world environments, AR enables new forms of immersive and engaging experiences. However,…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
An important benefit of multi-objective search is that it maintains a diverse population of candidates, which helps in deceptive problems in particular. Not all diversity is useful, however: candidates that optimize only one objective while…
We introduce PartSTAD, a method designed for the task adaptation of 2D-to-3D segmentation lifting. Recent studies have highlighted the advantages of utilizing 2D segmentation models to achieve high-quality 3D segmentation through few-shot…
The best performing methods for 3D human pose estimation from monocular images require large amounts of in-the-wild 2D and controlled 3D pose annotated datasets which are costly and require sophisticated systems to acquire. To reduce this…
Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…
We investigate a real-life air cargo loading problem which is a variant of the three-dimensional Variable Size Bin Packing Problem with special bin forms of cuboid and non-cuboid unit load devices (ULDs). Packing is constrained by…
Robust 3D object detection remains a pivotal concern in the domain of autonomous field robotics. Despite notable enhancements in detection accuracy across standard datasets, real-world urban environments, characterized by their unstructured…