相关论文: GiPH: Generalizable Placement Learning for Adaptiv…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Robots are expected to serve as intelligent assistants, helping humans with everyday household organization. A central challenge in this setting is the task of object placement, which requires reasoning about both semantic preferences…

Latency to end-users and regulatory requirements push large companies to build data centers all around the world. The resulting data is "born" geographically distributed. On the other hand, many machine learning applications require a…

For its advantage in GPU acceleration and less dependency on human experts, machine learning has been an emerging tool for solving the placement and routing problems, as two critical steps in modern chip design flow. Being still in its…

Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem forms an essential building block for multi-robot systems in…

Partial Label Learning (PLL) aims to learn from the data where each training example is associated with a set of candidate labels, among which only one is correct. The key to deal with such problem is to disambiguate the candidate label…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

Distributed cloud environments hosting data-intensive applications often experience slowdowns due to network congestion, asymmetric bandwidth, and inter-node data shuffling. These factors are typically not captured by traditional host-level…

The rapid growth of large language models (LLMs) and the continuous release of new GPU products have significantly increased the demand for distributed training across heterogeneous GPU environments. In this paper, we present a…

With the widespread use of shared-nothing clusters of servers, there has been a proliferation of distributed object stores that offer high availability, reliability and enhanced performance for MapReduce-style workloads. However, relational…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

Self-adaptation solutions need to periodically monitor, reason about, and adapt a running system. The adaptation step involves generating an adaptation strategy and applying it to the running system whenever an anomaly arises. In this…

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 study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…

Edge computing hosts applications close to the end users and enables low-latency real-time applications. Modern applications inturn have adopted the microservices architecture which composes applications as loosely coupled smaller…

Graph Neural Networks often struggle with long-range information propagation and in the presence of heterophilous neighborhoods. We address both challenges with a unified framework that incorporates a clustering inductive bias into the…

We consider the classical problem of scheduling task graphs corresponding to complex applications on distributed computing systems. A number of heuristics have been previously proposed to optimize task scheduling with respect to metrics…

This paper proposes a new Generative Partition Network (GPN) to address the challenging multi-person pose estimation problem. Different from existing models that are either completely top-down or bottom-up, the proposed GPN introduces a…

Large-scale place recognition is a fundamental but challenging task, which plays an increasingly important role in autonomous driving and robotics. Existing methods have achieved acceptable good performance, however, most of them are…

Federated learning client selection is crucial for determining participant clients while balancing model accuracy and communication efficiency. Existing methods have limitations in handling data heterogeneity, computational burdens, and…