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The introduction of DETR represents a new paradigm for object detection. However, its decoder conducts classification and box localization using shared queries and cross-attention layers, leading to suboptimal results. We observe that…

Multidimensional scaling (MDS) is a popular dimensionality reduction techniques that has been widely used for network visualization and cooperative localization. However, the traditional stress minimization formulation of MDS necessitates…

Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…

The maximum reachability probabilities in a Markov decision process can be computed using value iteration (VI). Recently, simulation-based heuristic extensions of VI have been introduced, such as bounded real-time dynamic programming…

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…

Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…

Monte Carlo Tree Search (MCTS) is a sampling best-first method to search for optimal decisions. The success of MCTS depends heavily on how the MCTS statistical tree is built and the selection policy plays a fundamental role in this. A…

Monte-Carlo Tree Search (MCTS) is a class of methods for solving complex decision-making problems through the synergy of Monte-Carlo planning and Reinforcement Learning (RL). The highly combinatorial nature of the problems commonly…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

The combination of Monte-Carlo Tree Search (MCTS) and deep reinforcement learning is state-of-the-art in two-player perfect-information games. In this paper, we describe a search algorithm that uses a variant of MCTS which we enhanced by 1)…

This paper investigates sequencing policies for file reading requests in linear storage devices, such as magnetic tapes. Tapes are the technology of choice for long-term storage in data centers due to their low cost and reliability.…

We explore applying the Monte Carlo Tree Search (MCTS) algorithm in a notoriously difficult task: tuning programs for high-performance deep learning and image processing. We build our framework on top of Halide and show that MCTS can…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…

Online planning under uncertainty remains a critical challenge in robotics and autonomous systems. While tree search techniques are commonly employed to construct partial future trajectories within computational constraints, most existing…

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

This paper investigates the optimal signal detection problem with a particular interest in large-scale multiple-input multiple-output (MIMO) systems. The problem is NP-hard and can be solved optimally by searching the shortest path on the…

Taking into account future risk is essential for an autonomously operating robot to find online not only the best but also a safe action to execute. In this paper, we build upon the recently introduced formulation of probabilistic…

This work presents the first study of using the popular Monte Carlo Tree Search (MCTS) method combined with dedicated heuristics for solving the Weighted Vertex Coloring Problem. Starting with the basic MCTS algorithm, we gradually…

One weakness of Monte Carlo Tree Search (MCTS) is its sample efficiency which can be addressed by building and using state and/or action abstractions in parallel to the tree search such that information can be shared among nodes of the same…