Related papers: Efficient Symbolic Planning with Views
Multiple-view visualization (MV) has been used for visual analytics in various fields (e.g., bioinformatics, cybersecurity, and intelligence analysis). Because each view encodes data from a particular perspective, analysts often use a set…
In product design, a decomposition of the overall product function into a set of smaller, interacting functions is usually considered a crucial first step for any computer-supported design tool. Here, we propose a new approach for the…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
Discovering the symbols and rules that can be used in long-horizon planning from a robot's unsupervised exploration of its environment and continuous sensorimotor experience is a challenging task. The previous studies proposed learning…
View materialization, index selection, and plan caching are well-known techniques for optimization of query processing in database systems. The essence of these tasks is to select and save a subset of the most useful candidates…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
Language models can be used to solve long-horizon planning problems in two distinct modes: a fast 'System-1' mode, directly generating plans without any explicit search or backtracking, and a slow 'System-2' mode, planning step-by-step by…
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…
One of the most useful techniques to help visual data analysis systems is interactive filtering (brushing). However, visualization techniques often suffer from overlap of graphical items and multiple attributes complexity, making visual…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
Neural networks have achieved success in a wide array of perceptual tasks but often fail at tasks involving both perception and higher-level reasoning. On these more challenging tasks, bespoke approaches (such as modular symbolic…
A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…
World model based planning has significantly improved decision-making in complex environments by enabling agents to simulate future states and make informed choices. This computational burden is particularly restrictive in robotics, where…
Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
This article presents a model for describing the architecture of software-intensive systems, based on the use of multiple, concurrent views. This use of multiple views allows to address separately the concerns of the various stakeholders of…