Related papers: Dynamic Locality Sensitive Orderings in Doubling M…
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This task is high-dimensional and highly constrained owing to the…
In mathematical reasoning, data selection strategies predominantly rely on static, externally defined metrics, which fail to adapt to the evolving capabilities of models during training. This misalignment limits the efficiency of Supervised…
Geometric set cover is a classical problem in computational geometry, which has been extensively studied in the past. In the dynamic version of the problem, points and ranges may be inserted and deleted, and our goal is to efficiently…
Many challenging tasks in sensor networks, including sensor calibration, ranking of nodes, monitoring, event region detection, collaborative filtering, collaborative signal processing, {\em etc.}, can be formulated as a problem of solving a…
Solomon and Elkin constructed a shortcutting scheme for weighted trees which results in a 1-spanner for the tree metric induced by the input tree. The spanner has logarithmic lightness, logarithmic diameter, a linear number of edges and…
Despite the fact that Second Order Similarity (SOS) has been used with significant success in tasks such as graph matching and clustering, it has not been exploited for learning local descriptors. In this work, we explore the potential of…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
An $f$-edge fault-tolerant distance sensitive oracle ($f$-DSO) with stretch $\sigma \ge 1$ is a data structure that preprocesses a given undirected, unweighted graph $G$ with $n$ vertices and $m$ edges, and a positive integer $f$. When…
One-stage object detection, particularly the YOLO series, strikes a favorable balance between accuracy and efficiency. However, existing YOLO detectors lack explicit modeling of heterogeneous object responses within shared feature channels,…
A major challenge in aligning large language models (LLMs) with human preferences is the issue of distribution shift. LLM alignment algorithms rely on static preference datasets, assuming that they accurately represent real-world user…
For any constant $d$ and parameter $\varepsilon > 0$, we show the existence of (roughly) $1/\varepsilon^d$ orderings on the unit cube $[0,1)^d$, such that any two points $p,q\in [0,1)^d$ that are close together under the Euclidean metric…
In this paper, we propose several new stochastic second-order algorithms for policy optimization that only require gradient and Hessian-vector product in each iteration, making them computationally efficient and comparable to policy…
Many of the distributed localization algorithms are based on relaxed optimization formulations of the localization problem. These algorithms commonly rely on first-order optimization methods, and hence may require many iterations or…
This paper presents a first continuous, linear, conic formulation for the Discrete Ordered Median Problem (DOMP). Starting from a binary, quadratic formulation in the original space of location and allocation variables that are common in…
In the setting of DynFO, dynamic programs update the stored result of a query whenever the underlying data changes. This update is expressed in terms of first-order logic. We introduce a strategy for constructing dynamic programs that…
We develop simple and general techniques to obtain faster (near-linear time) static approximation algorithms, as well as efficient dynamic data structures, for four fundamental geometric optimization problems: minimum piercing set (MPS),…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
Set cover and hitting set are fundamental problems in combinatorial optimization which are well-studied in the offline, online, and dynamic settings. We study the geometric versions of these problems and present new online and dynamic…
Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate…
We present two algorithms for dynamically maintaining a spanning forest of a graph undergoing edge insertions and deletions. Our algorithms guarantee {\em worst-case update time} and work against an adaptive adversary, meaning that an edge…