相关论文: Mechanical Search on Shelves using a Novel "Blucti…

We develop a line-search second-order algorithmic framework for minimizing finite sums. We do not make any convexity assumptions, but require the terms of the sum to be continuously differentiable and have Lipschitz-continuous gradients.…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

Existing methods for retrieving k-nearest neighbours suffer from the curse of dimensionality. We argue this is caused in part by inherent deficiencies of space partitioning, which is the underlying strategy used by most existing methods. We…

For the exploration of large state spaces, symbolic search using binary decision diagrams (BDDs) can save huge amounts of memory and computation time. State sets are represented and modified by accessing and manipulating their…

The study of many astrophysical flows requires computational algorithms that can capture high Mach number flows, while resolving a large dynamic range in spatial and density scales. In this paper we present a novel method, RAM: Rapid…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…

Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…

Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…

The similarity search problem is one of the main problems in time series data mining. Traditionally, this problem was tackled by sequentially comparing the given query against all the time series in the database, and returning all the time…

Mobile manipulation tasks such as opening a door, pulling open a drawer, or lifting a toilet lid require constrained motion of the end-effector under environmental and task constraints. This, coupled with partial information in novel…

This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…

Algorithms for robotic visual search can benefit from the use of visual attention methods in order to reduce computational costs. Here, we describe how three distinct mechanisms of visual attention can be integrated and productively used to…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…

Vacuum Suction Grabbing Technology. The primary objective of this study was to design the grabbing technique used to determine the vacuum suction gripper and its design parameters for the pocket welting operation in apparel manufacturing.…

Analytical approach to SLAM problem was introduced in the recent years. In our work we investigate the method numerically with the motivation of using the algorithm in a real hardware experiments. We perform a robustness test of the…

Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…

The working-set bound [Sleator and Tarjan, J. ACM, 1985] roughly states that searching for an element is fast if the element was accessed recently. Binary search trees, such as splay trees, can achieve this property in the amortized sense,…

In this research, we tackle the problem of picking an object from randomly stacked pile. Since complex physical phenomena of contact among objects and fingers makes it difficult to perform the bin-picking with high success rate, we consider…

One approach for reducing run time and improving efficiency of machine learning is to reduce the convergence rate of the optimization algorithm used. Shuffling is an algorithm technique that is widely used in machine learning, but it only…