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

Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…

Incorrect placement of methods within classes is a typical code smell called Feature Envy, which causes additional maintenance and cost during evolution. To remove this design flaw, several Move Method refactoring tools have been proposed.…

This is an introduction to the M\"obius function of a poset. The chief novelty is in the exposition. We show how order-preserving maps from one poset to another can be used to relate their M\"obius functions. We derive the basic results on…

In this paper we consider methods for dynamically storing a set of different objects ("modules") in a physical array. Each module requires one free contiguous subinterval in order to be placed. Items are inserted or removed, resulting in a…

We analyze the game of go from the point of view of complex networks. We construct three different directed networks of increasing complexity, defining nodes as local patterns on plaquettes of increasing sizes, and links as actual…

This paper considers single-machine scheduling problems in which a given solution, i.e. an ordered set of jobs, has to be improved as much as possible by re-sequencing the jobs. The need for rescheduling may arise in different contexts,…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Memoisation, or tabling, is a well-known technique that yields large improvements in the performance of some recursive computations. Tabled resolution in Prologs such as XSB and B-Prolog can transform so called left-recursive predicates…

We describe all possible bimodal over-twist patterns. In particular, we give an algorithm allowing one to determine what the left endpoint of the over-rotation interval of a given bimodal map is. We then define a new class of polymodal…

We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…

Data mining is routinely used to organize ensembles of short temporal observations so as to reconstruct useful, low-dimensional realizations of an underlying dynamical system. In this paper, we use manifold learning to organize unstructured…

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…

This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…

Temporal action localization aims at localizing action instances from untrimmed videos. Existing works have designed various effective modules to precisely localize action instances based on appearance and motion features. However, by…

Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to the direct relation between the dimensionality of the…

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…

Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…

Transformer architectures rely on explicit position encodings in order to preserve a notion of word order. In this paper, we argue that existing work does not fully utilize position information. For example, the initial proposal of a…