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

We extend the powerful Pullback-Pushout (PBPO) approach for graph rewriting with strong matching. Our approach, called \pbpostrong, exerts more control over the embedding of the pattern in the host graph, which is important for a large…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks. While in the past, robot programs were often written statically and tuned manually, the current, faster transition times call for…

In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…

Memorization is a fundamental ability of Transformer-based Large Language Models, achieved through learning. In this paper, we propose a paradigm shift by designing an architecture to memorize text directly, bearing in mind the principle…

In Transformer-based neural machine translation (NMT), the positional encoding mechanism helps the self-attention networks to learn the source representation with order dependency, which makes the Transformer-based NMT achieve…

In this paper we describe a novel a procedure to build a linear order from an arbitrary poset which (i) preserves the original ordering and (ii) allows to extend monotonic and antitonic mappings defined over the original poset to monotonic…

Bi-linear feature learning models, like the gated autoencoder, were proposed as a way to model relationships between frames in a video. By minimizing reconstruction error of one frame, given the previous frame, these models learn "mapping…

Multilayer transformer networks consist of interleaved self-attention and feedforward sublayers. Could ordering the sublayers in a different pattern lead to better performance? We generate randomly ordered transformers and train them with…

Object tracking and 3D reconstruction are often performed together, with tracking used as input for reconstruction. However, the obtained reconstructions also provide useful information for improving tracking. We propose a novel method that…

Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…

The human visual system is able to recognize objects despite transformations that can drastically alter their appearance. To this end, much effort has been devoted to the invariance properties of recognition systems. Invariance can be…

The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…

Matrix reordering is a task to permute the rows and columns of a given observed matrix such that the resulting reordered matrix shows meaningful or interpretable structural patterns. Most existing matrix reordering techniques share the…

Racetrack memory is a new technology which utilizes magnetic domains along a nanoscopic wire in order to obtain extremely high storage density. In racetrack memory, each magnetic domain can store a single bit of information, which can be…

Recent unsupervised multi-object detection models have shown impressive performance improvements, largely attributed to novel architectural inductive biases. Unfortunately, they may produce suboptimal object encodings for downstream tasks.…

We propose an online tracking algorithm that performs the object detection and data association under a common framework, capable of linking objects after a long time span. This is realized by preserving a large spatio-temporal memory to…

With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…

In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…