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The Tree Augmentation Problem (TAP) is a fundamental network design problem in which we are given a tree and a set of additional edges, also called \emph{links}. The task is to find a set of links, of minimum size, whose addition to the…
We consider the well-studied problem of finding a spanning tree with minimum average distance between vertex pairs (called a MAD tree). This is a classic network design problem which is known to be NP-hard. While approximation algorithms…
Packing for Supervised Fine-Tuning (SFT) in autoregressive models involves concatenating data points of varying lengths until reaching the designed maximum length to facilitate GPU processing. However, randomly concatenating data points can…
A fundamental problem in wireless communication is the time-frequency shift (TFS) problem: Find the time-frequency shift of a signal in a noisy environment. The shift is the result of time asynchronization of a sender with a receiver, and…
The affine rank minimization (ARM) problem arises in many real-world applications. The goal is to recover a low-rank matrix from a small amount of noisy affine measurements. The original problem is NP-hard, and so directly solving the…
Three challenges limit the progress of robot learning research: robots are expensive (few labs can participate), everyone uses different robots (findings do not generalize across labs), and we lack internet-scale robotics data. We take on…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Given a set R of robots, each one located at different vertices of an infinite regular tessellation graph, we aim to explore the Arbitrary Pattern Formation (APF) problem. Given a multiset F of grid vertices such that |R|=|F|, APF asks for…
Finite unit norm tight frames provide Parseval-like decompositions of vectors in terms of redundant components of equal weight. They are known to be exceptionally robust against additive noise and erasures, and as such, have great potential…
In this paper, we consider the 1.5-dimensional orthogonal terrain guarding problem. In this problem, we assign an x-monotone chain T because each edge is either horizontal or vertical, and determine the minimal number of vertex guards for…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…
Tokenization is the process of encoding strings into tokens of a fixed vocabulary size, and is widely utilized in Natural Language Processing applications. The leading tokenization algorithm today is Byte-Pair Encoding (BPE), which…
In the PATH COVER problem, one asks to cover the vertices of a graph using the smallest possible number of (not necessarily disjoint) paths. While the variant where the paths need to be pairwise vertex-disjoint, which we call PATH…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Let $T^* = \{P^*_1, \ldots, P^*_N\}$ be a polygonal tiling of a simply connected region in the plane, and let $T = \{P_1, \ldots, P_N\}$ be a noisy version of $T^*$ obtained by making small perturbations to the coordinates of the vertices…
The Maximum Agreement Forest (Maf) problem is a well-studied problem in evolutionary biology, which asks for a largest common subforest of a given collection of phylogenetic trees with identical leaf label-set. However, the previous work…