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Collaboration requires agents to coordinate their behavior on the fly, sometimes cooperating to solve a single task together and other times dividing it up into sub-tasks to work on in parallel. Underlying the human ability to collaborate…

Decomposition, statically dividing a program into multiple units, is a common programming technique for realizing parallelism and refining programs. The decomposition of a sequential program into components is tedious, due to the…

When writing programs, people have the ability to tackle a new complex task by decomposing it into smaller and more familiar subtasks. While it is difficult to measure whether neural program synthesis methods have similar capabilities, what…

The visual world around us can be described as a structured set of objects and their associated relations. An image of a room may be conjured given only the description of the underlying objects and their associated relations. While there…

In the constraint programming framework, state-of-the-art static and dynamic decomposition techniques are hard to apply to problems with complete initial constraint graphs. For such problems, we propose a hybrid approach of these techniques…

What is the relationship between brain and behavior? The answer to this question necessitates characterizing the mapping between structure and function. The aim of this paper is to discuss broad issues surrounding the link between structure…

We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…

Human routines structure daily life, yet remain challenging for computational systems to understand. This paper presents the first systematic review of routine computing, a previously implicit but increasingly recognized field that focuses…

This paper addresses the limitations of a single agent in task decomposition and collaboration during complex task execution, and proposes a multi-agent architecture for modular task decomposition and dynamic collaboration based on large…

We revisit the planning problem in the blocks world, and we implement a known heuristic for this task. Importantly, our implementation is biologically plausible, in the sense that it is carried out exclusively through the spiking of…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

We define the concept of CompositeTasking as the fusion of multiple, spatially distributed tasks, for various aspects of image understanding. Learning to perform spatially distributed tasks is motivated by the frequent availability of only…

We use ideas from distributed computing to study dynamic environments in which computational nodes, or decision makers, follow adaptive heuristics (Hart 2005), i.e., simple and unsophisticated rules of behavior, e.g., repeatedly "best…

Meaning may arise from an element's role or interactions within a larger system. For example, hitting nails is more central to people's concept of a hammer than its particular material composition or other intrinsic features. Likewise, the…

Affordances, originating in psychology, describe how an object's design influences the physical and cognitive actions users may take. Past work applied affordance theory to visualization to explain how design decisions can impact the…

Many real-world networks are so large that we must simplify their structure before we can extract useful information about the systems they represent. As the tools for doing these simplifications proliferate within the network literature,…

Program understanding is a fundamental task in program language processing. Despite the success, existing works fail to take human behaviors as reference in understanding programs. In this paper, we consider human behaviors and propose the…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

Thinking is one of the most interesting mental processes. Its complexity is sometimes simplified and its different manifestations are classified into normal and abnormal, like the delusional and disorganized thought or the creative one. The…