相关论文: Mechanical Search on Shelves using a Novel "Blucti…
Search is a key service within constraint programming systems, and it demands the restoration of previously accessed states during the exploration of a search tree. Restoration proceeds either bottom-up within the tree to roll back…
Many location-based services use Received Signal Strength (RSS) measurements due to their universal availability. In this paper, we study the association of a large number of low-cost Internet-of-Things (IoT) sensors and their possible…
Multi-directional 3D printing has the capability of decreasing or eliminating the need for support structures. Recent work proposed a beam-guided search algorithm to find an optimized sequence of plane-clipping, which gives volume…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…
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…
We propose a novel algorithm to efficiently generate hidden structures to support arrangements of floating rigid objects. Our optimization finds a small set of rods and wires between objects and each other or a supporting surface (e.g.,…
When searching for objects in cluttered environments, it is often necessary to perform complex interactions in order to move occluding objects out of the way and fully reveal the object of interest and make it graspable. Due to the…
We consider the problem of minimizing a continuous function that may be nonsmooth and nonconvex, subject to bound constraints. We propose an algorithm that uses the L-BFGS quasi-Newton approximation of the problem's curvature together with…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
Heuristic search is often used for motion planning and pathfinding problems, for finding the shortest path in a graph while also promising completeness and optimal efficiency. The drawback is it's space complexity, specifically storing all…
Recently, several approaches successfully demonstrated that weight-sharing Neural Architecture Search (NAS) can effectively explore a search space of elastic low-rank adapters (LoRA), allowing the parameter-efficient fine-tuning (PEFT) and…
The problem of searching for an unknown object occurs in important applications ranging from security, medicine and defense. Sensors with the capability to process information rapidly require adaptive algorithms to control their search in…
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…
Sample efficiency is one of the key factors when applying policy search to real-world problems. In recent years, Bayesian Optimization (BO) has become prominent in the field of robotics due to its sample efficiency and little prior…
Optimization methods are essential in solving complex problems across various domains. In this research paper, we introduce a novel optimization method called Gaussian Crunching Search (GCS). Inspired by the behaviour of particles in a…
Golden-section search and bisection search are the two main principled algorithms for 1d minimization of quasiconvex (unimodal) functions. The first one only uses function queries, while the second one also uses gradient queries. Other…
Document retrieval aims at finding the most important documents where a pattern appears in a collection of strings. Traditional pattern-matching techniques yield brute-force document retrieval solutions, which has motivated the research on…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…