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This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
In the "Game about Squares" the task is to push unit squares on an integer lattice onto corresponding dots. A square can only be moved into one given direction. When a square is pushed onto a lattice point with an arrow the direction of the…
We consider the model of one-dimensional Pushdown Vector Addition Systems (1-PVAS), a fundamental computational model simulating both recursive and concurrent behaviours. Our main result is decidability of the reachability problem for…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
Modern AAA video games feature huge game levels and maps which are increasingly hard for level testers to cover exhaustively. As a result, games often ship with catastrophic bugs such as the player falling through the floor or being stuck…
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…
Branching VASS (BVASS) generalise vector addition systems with states by allowing for special branching transitions that can non-deterministically distribute a counter value between two control states. A run of a BVASS consequently becomes…
We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…
We prove that the 2017 puzzle game ZHED is NP-complete, even with just 1 tiles. Such a puzzle is defined by a set of unit-square 1 tiles in a square grid, and a target square of the grid. A move consists of selecting an unselected 1 tile…
Reinforcement learning has recently enabled impressive locomotion capabilities on legged robots; however, most policy architectures remain morphology- and symmetry-agnostic, leading to inefficient training and limited generalization. This…
The theory of Monotone Comparative Statics (MCS) has traditionally required a lattice structure, excluding certain multidimensional environments such as mixed-strategy games where this property fails. We show that this structure is not…
We consider the parameterized verification problem for distributed algorithms where the goal is to develop techniques to prove the correctness of a given algorithm regardless of the number of participating processes. Motivated by an…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
Flexible structures in an incoming perpendicular flow typically undergo elastic reconfiguration that reduces drag; however, at higher velocities, they are prone to dynamical instabilities that entail complex wake dynamics and fluctuating…
This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranking and Criteria Evaluation (GRaCE), which employs…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…
Agents with the ability to comprehend and reason about the dynamics of objects would be expected to exhibit improved robustness and generalization in novel scenarios. However, achieving this capability necessitates not only an effective…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…