Related papers: Visual Milestone Planning in a Hybrid Development …
From early Movement Primitive (MP) techniques to modern Vision-Language Models (VLMs), autonomous manipulation has remained a pivotal topic in robotics. As two extremes, VLM-based methods emphasize zero-shot and adaptive manipulation but…
Due to the restricted resources, efficient scheduling in vertiports has received much more attention in the field of Urban Air Mobility (UAM). For the scheduling problem, we utilize a Mixed Integer Linear Programming (MILP), which is often…
Multimodal learning seeks to combine data from multiple input sources to enhance the performance of different downstream tasks. In real-world scenarios, performance can degrade substantially if some input modalities are missing. Existing…
This article describes the methodology for formulating and solving optimal pump scheduling problems with variable-speed pumps (VSPs) as mixed integer linear programs (MILPs) using piece-linear approximations of the network components. The…
While recent advances in vision-language models have accelerated the development of language-guided robot planners, their black-box nature often lacks safety guarantees and interpretability crucial for real-world deployment. Conversely,…
Multimodal Procedural Planning (MPP) aims to generate step-by-step instructions that combine text and images, with the central challenge of preserving object-state consistency across modalities while producing informative plans. Existing…
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…
Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…
Variability management (VM) in software product line engineering (SPLE) is introduced as an abstraction that enables the reuse and customization of assets. VM is a complex task involving the identification, representation, and instantiation…
Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…
Knowledge Management is crucial for capturing and transferring expertise within universities, especially in high staff turnover contexts where expertise loss disrupts teaching. Documenting teachers' workflows is time-intensive and diverts…
Business Process Model and Notation (BPMN) provides a standard for the design of business processes. It focuses on bridging the gap between the analysis and the technical perspectives, and aims to deliver process automation. The aim of this…
Multi-Task Learning (MTL) is designed to train multiple correlated tasks simultaneously, thereby enhancing the performance of individual tasks. Typically, a multi-task network structure consists of a shared backbone and task-specific…
To make effective decisions in novel environments with long-horizon goals, it is crucial to engage in hierarchical reasoning across spatial and temporal scales. This entails planning abstract subgoal sequences, visually reasoning about the…
This paper addresses a production scheduling problem derived from an industrial use case, focusing on unrelated parallel machine scheduling with the personnel availability constraint. The proposed model optimizes the production plan over a…
Planning is hard. The use of subgoals can make planning more tractable, but selecting these subgoals is computationally costly. What algorithms might enable us to reap the benefits of planning using subgoals while minimizing the…
The digital transformation of work presents new opportunities to understand how informal workgroups organize around the dynamic needs of organizations, potentially in contrast to the formal, static, and idealized hierarchies depicted by org…
While globally optimal solutions to many convex programs can be computed efficiently in polynomial time, this is, in general, not possible for nonconvex optimization problems. Therefore, locally optimal approaches or other efficient…
Project scheduling in manufacturing environments often requires flexibility in terms of the selection and the exact length of alternative production activities. Moreover, the simultaneous scheduling of multiple lots is mandatory in many…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…