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Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments,…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

The first step for any graph signal processing (GSP) procedure is to learn the graph signal representation, i.e., to capture the dependence structure of the data into an adjacency matrix. Indeed, the adjacency matrix is typically not known…

We describe a novel approach for exploring, visualizing and modelling of complex textile structures. We show this approach in action for the exploration of weft-knitted spacer fabrics. The modelling tools are readily available and represent…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…

The interest in explainability in artificial intelligence (AI) is growing vastly due to the near ubiquitous state of AI in our lives and the increasing complexity of AI systems. Answer-set Programming (ASP) is used in many areas, among them…

Current applications have produced graphs on the order of hundreds of thousands of nodes and millions of edges. To take advantage of such graphs, one must be able to find patterns, outliers and communities. These tasks are better performed…

The robot manipulation ecosystem currently faces issues with integrating open-source components and reproducing results. This limits the ability of the community to benchmark and compare the performance of different solutions to one another…

We report on a half-semester course focused around implementation of type systems in programming languages. The course assumes basics of classical compiler construction, in particular, the abstract syntax representation, the Visitor…

Draco introduced a constraint-based framework to model visualization design in an extensible and testable form. It provides a way to abstract design guidelines from theoretical and empirical studies and applies the knowledge in automated…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

Understanding student difficulties in programming is a complex challenge due to the wide range of topics and the abundant varieties of misconceptions and errors. This paper presents the design and development of a fine-grained taxonomy that…

Vision-language process reward models (VL-PRMs) are increasingly used to score intermediate reasoning steps and rerank candidates under test-time scaling. However, they often function as black-box judges: a low step score may reflect a…

Developing an algorithm for a visualization prototype often involves the direct comparison of different development stages and design decisions, and even minor modifications may dramatically affect the results. While existing development…

Bringing the benefits of gradual typing to a language with parametric polymorphism like System F, while preserving relational parametricity, has proven extremely challenging: first attempts were formulated a decade ago, and several designs…

This paper describes work carried out on a model for the evolution of graph classes in complex objects. By defining evolution rules and propagation strategies on graph classes, we aim to define a user-definable means to manage data…

Vector programming is an important topic in many Introduction to Computer Science courses. Despite the importance of vectors, learning vector programming is a source of frustration for many students. Much of the frustration is rooted in…

These notes present some extensions of a formal method introduced in an earlier paper. The formal method is designed as a tool for program verification of numerical computation and forms the basis of the software package VPC. Included in…

LLM agents acting in structured environments fail in operational rather than conversational ways, and reliability depends on procedural knowledge of the environment. Prior self-improvement methods accumulate natural-language guidance…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…