Related papers: Dynamic Buffers: Cost-Efficient Planning for Table…

In modern computer systems, jobs are divided into short tasks and executed in parallel. Empirical observations in practical systems suggest that the task service times are highly random and the job service time is bottlenecked by the…

Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…

In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a detailed time analysis and appropriate scheduling to facilitate…

Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…

Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…

Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

High-dimensional tabular data lacks a natural feature order, limiting the applicability of permutation-sensitive deep learning models. We propose DynaTab, a dynamic feature ordering-enabled architecture inspired by neural rewiring. We…

Dynamic programming on tree decompositions is a frequently used approach to solve otherwise intractable problems on instances of small treewidth. In recent work by Bodlaender et al., it was shown that for many connectivity problems, there…

Bike-sharing systems are emerging in various cities as a new ecofriendly transportation system. In these systems, spatiotemporally varying user demands lead to imbalanced inventory at bicycle stations, resulting in additional relocation…

Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…

In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…

The ever-increasing gap between compute and I/O performance in HPC platforms, together with the development of novel NVMe storage devices (NVRAM), led to the emergence of the burst buffer concept - an intermediate persistent storage layer…