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Designing and implementing efficient, provably correct parallel machine learning (ML) algorithms is challenging. Existing high-level parallel abstractions like MapReduce are insufficiently expressive while low-level tools like MPI and…
Designing and implementing efficient, provably correct parallel machine learning (ML) algorithms is challenging. Existing high-level parallel abstractions like MapReduce are insufficiently expressive while low-level tools like MPI and…
In real-world applications of reinforcement learning (RL), noise from inherent stochasticity of environments is inevitable. However, current policy evaluation algorithms, which plays a key role in many RL algorithms, are either prone to…
This paper proposes Relational Similarity Machines (RSM): a fast, accurate, and flexible relational learning framework for supervised and semi-supervised learning tasks. Despite the importance of relational learning, most existing methods…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
Investigating uncertainties in computer simulations can be prohibitive in terms of computational costs, since the simulator needs to be run over a large number of input values. Building an emulator, i.e. a statistical surrogate model of the…
Gradient-based data attribution methods, such as influence functions, are critical for understanding the impact of individual training samples without requiring repeated model retraining. However, their scalability is often limited by the…
We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
The ability to decompose complex multi-object scenes into meaningful abstractions like objects is fundamental to achieve higher-level cognition. Previous approaches for unsupervised object-oriented scene representation learning are either…
A micromagnetic simulator running on graphics processing unit (GPU) is presented. It achieves significant performance boost as compared to previous central processing unit (CPU) simulators, up to two orders of magnitude for large input…
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic…
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…
We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…
Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of km$^2$ while preserving semantic and geometric structure, a combination existing methods fail to achieve. Grids scale poorly; quadtrees…
Lifelong Multi-Agent Path Finding (LMAPF) repeatedly finds collision-free paths for multiple agents that are continually assigned new goals when they reach current ones. Recently, this field has embraced learning-based methods, which…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
Given the current point-to-point navigation capabilities of autonomous vehicles, researchers are looking into complex service requests that require the vehicles to visit multiple points of interest. In this paper, we develop a layered…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…