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This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
Derivatives play a critical role in computational statistics, examples being Bayesian inference using Hamiltonian Monte Carlo sampling and the training of neural networks. Automatic differentiation is a powerful tool to automate the…
Label ranking is a prediction task which deals with learning a mapping between an instance and a ranking (i.e., order) of labels from a finite set, representing their relevance to the instance. Boosting is a well-known and reliable ensemble…
A typical system of k difference (or differential) equations can be compressed, or folded into a difference (or ordinary differential) equation of order k. Such foldings appear in control theory as the canonical forms of the controllability…
Rank modulation has been recently proposed as a scheme for storing information in flash memories. While rank modulation has advantages in improving write speed and endurance, the current encoding approach is based on the "push to the top"…
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resiliency to market fluctuations. This extended abstract…
To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…
Accurate and efficient 6D pose estimation of novel objects under clutter and occlusion is critical for robotic manipulation across warehouse automation, bin picking, logistics, and e-commerce fulfillment. There are three main approaches in…
In the last years many accurate decision support systems have been constructed as black boxes, that is as systems that hide their internal logic to the user. This lack of explanation constitutes both a practical and an ethical issue. The…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
We describe a framework for systematic enumeration of families combinatorial structures which possess a certain regularity. More precisely, we describe how to obtain the differential equations satisfied by their generating series. These…
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…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Taxonomy completion, enriching existing taxonomies by inserting new concepts as parents or attaching them as children, has gained significant interest. Previous approaches embed concepts as vectors in Euclidean space, which makes it…
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
A randomized algorithm for computing a compressed representation of a given rank-structured matrix $A \in \mathbb{R}^{N\times N}$ is presented. The algorithm interacts with $A$ only through its action on vectors. Specifically, it draws two…