相关论文: MIOV: Reordering MOVI for even better locality

Accurate object rearrangement from vision is a crucial problem for a wide variety of real-world robotics applications in unstructured environments. We propose IFOR, Iterative Flow Minimization for Robotic Object Rearrangement, an end-to-end…

Given an autohomeomorphism on an ordered topological space or its subspace, we show that it is sometimes possible to introduce a new topology-compatible order on that space so that the same map is monotonic with respect to the new ordering.…

Link-based data structures, such as linked lists and binary search trees, have many well-known rearrangement steps allowing for efficient implementations of insertion, deletion, and other operations. We describe a rearrangement primitive…

We study properties of an array of numbers, called "the triangle," in which each row is formed by rotating all the numbers in the previous row to the left by $m$ positions in cyclical fashion, then appending a number to the end of the row.…

Motion retargeting holds a premise of offering a larger set of motion data for characters and robots with different morphologies. Many prior works have approached this problem via either handcrafted constraints or paired motion datasets,…

This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Motivated by reconstruction results by Rubin, we introduce a new reconstruction notion for permutation groups, transformation monoids and clones, called automatic action compatibility, which entails automatic homeomorphicity. We further…

Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effectively and robustly maneuver elongate limbless robots is…

We use some of the largest order statistics of the random projections of a reference signal to construct a binary embedding that is adapted to signals correlated with such signal. The embedding is characterized from the analytical…

Moving object segmentation based on LiDAR is a crucial and challenging task for autonomous driving and mobile robotics. Most approaches explore spatio-temporal information from LiDAR sequences to predict moving objects in the current frame.…

Referring Multi-Object Tracking (RMOT) is a relatively new concept that has rapidly gained traction as a promising research direction at the intersection of computer vision and natural language processing. Unlike traditional multi-object…

We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…

To predict the next token, autoregressive models ordinarily examine the past. Could they also benefit from also examining hypothetical futures? We consider a novel Transformer-based autoregressive architecture that estimates the next-token…

The idea of reusing information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency reinforcement learning agents. In this work, we…

We examine the challenging problem of constructing reduced models for the long time prediction of systems where there is no timescale separation between the resolved and unresolved variables. In previous work we focused on the case where…

Text-to-motion generation holds potential for film, gaming, and robotics, yet current methods often prioritize short motion generation, making it challenging to produce long motion sequences effectively: (1) Current methods struggle to…

Rowmotion is a simple cyclic action on the distributive lattice of order ideals of a poset: it sends the order ideal x to the order ideal generated by the minimal elements not in x. It can also be computed in "slow motion" as a sequence of…

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…

Vision Transformers (ViTs) have achieved remarkable success in visual recognition tasks, but redundant token representations limit their computational efficiency. Existing token merging and pruning strategies often overlook spatial…