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Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Reactive dance generation (RDG), the task of generating a dance conditioned on a lead dancer's motion, holds significant promise for enhancing human-robot interaction and immersive digital entertainment. Despite progress in duet…
We consider a Gathering problem for n autonomous mobile robots with persistent memory called light in an asynchronous scheduler (ASYNC). It is well known that Gathering is impossible when robots have no lights in basic common models, if the…
Video anomaly detection is a challenging task due to the lack in approaches for representing samples. The visual representations of most existing approaches are limited by short-term sequences of observations which cannot provide enough…
Dynamic objects in our physical 4D (3D + time) world are constantly evolving, deforming, and interacting with other objects, leading to diverse 4D scene dynamics. In this paper, we present a universal generative pipeline, CHORD, for…
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…
The beauty of synchronized dancing lies in the synchronization of body movements among multiple dancers. While dancers utilize camera recordings for their practice, standard video interfaces do not efficiently support their activities of…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
We prove several new tight distributed lower bounds for classic symmetry breaking graph problems. As a basic tool, we first provide a new insightful proof that any deterministic distributed algorithm that computes a $\Delta$-coloring on…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
Music and dance have always co-existed as pillars of human activities, contributing immensely to the cultural, social, and entertainment functions in virtually all societies. Notwithstanding the gradual systematization of music and dance…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
In this work we introduce a new type of urn model with infinite but countable many colors indexed by an appropriate infinite set. We mainly consider the indexing set of colors to be the $d$-dimensional integer lattice and consider balanced…
Programmable matter (PM) is a form of matter capable of dynamically altering its physical properties, such as shape or density, through programmable means. From a robotics perspective, PM can be realized as a distributed system consisting…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Dance requires skillful composition of complex movements that follow rhythmic, tonal and timbral features of music. Formally, generating dance conditioned on a piece of music can be expressed as a problem of modelling a high-dimensional…
We propose a new representation of human body motion which encodes a full motion in a sequence of latent motion primitives. Recently, task generic motion priors have been introduced and propose a coherent representation of human motion…