相关论文: Multi Graph Search for High-Dimensional Robot Moti…

State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…

The lack of generalization in learning-based autonomous driving applications is shown by the narrow range of road scenarios that vehicles can currently cover. A generalizable approach should capture many distinct road structures and…

The dramatic success of deep neural networks across multiple application areas often relies on experts painstakingly designing a network architecture specific to each task. To simplify this process and make it more accessible, an emerging…

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

Given a graph $G$, the NP-hard Maximum Planar Subgraph problem (MPS) asks for a planar subgraph of $G$ with the maximum number of edges. There are several heuristic, approximative, and exact algorithms to tackle the problem, but---to the…

Planning allows an agent to safely refine its actions before executing them in the real world. In autonomous driving, this is crucial to avoid collisions and navigate in complex, dense traffic scenarios. One way to plan is to search for the…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a convolutional neural network to predict grasp success as a function of both visual information of an object and grasp…

Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…

Multi-step agentic retrieval systems based on large language models (LLMs) have demonstrated remarkable performance in complex information search tasks. However, these systems still face significant challenges in practical applications,…

We consider time-optimal motion planning for dynamical systems that are translation-invariant, a property that holds for many mobile robots, such as differential-drives, cars, airplanes, and multirotors. Our key insight is that we can…

Graph cuts-based algorithms have achieved great success in energy minimization for many computer vision applications. These algorithms provide approximated solutions for multi-label energy functions via move-making approach. This approach…

We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…

Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…

Performing analytical tasks over graph data has become increasingly interesting due to the ubiquity and large availability of relational information. However, unlike images or sentences, there is no notion of sequence in networks. Nodes…

Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool…

We present the algebraic representation and basic algorithms for MultiAspect Graphs (MAGs). A MAG is a structure capable of representing multilayer and time-varying networks, as well as higher-order networks, while also having the property…

Multi-traversal data, commonly collected through daily commutes or by self-driving fleets, provides multiple viewpoints for scene reconstruction within a road block. This data offers significant potential for high-quality novel view…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…