相关论文: The Open Motion Planning Library 2.0

We introduce an online variant of mobile facility location (MFL) (introduced by Demaine et al. [SODA' 07]). We call this new problem online mobile facility location (OMFL). In the OMFL problem, initially, we are given a set of $k$ mobile…

Machine learning can provide deep insights into data, allowing machines to make high-quality predictions and having been widely used in real-world applications, such as text mining, visual classification, and recommender systems. However,…

The orienteering problem (OP) is a combinatorial optimization problem that seeks a path visiting a subset of locations to maximize collected rewards under a limited resource budget. This article presents a systematic PRISMA-based review of…

Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes)…

Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…

Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…

To overcome the burden on the memory size and bandwidth due to ever-increasing size of large language models (LLMs), aggressive weight quantization has been recently studied, while lacking research on quantizing activations. In this paper,…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

Research in data warehousing and OLAP has produced important technologies for the design, management and use of information systems for decision support. With the development of Internet, the availability of various types of data has…

The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…

CPL here stands for a computer programming language conceived and developed by the author since 1993, but published for the first time in 2020. It was born as a Compiled Programming Language, designed together with its compiler and…

Generating lifelike human motions from descriptive texts has experienced remarkable research focus in the recent years, propelled by the emerging requirements of digital humans.Despite impressive advances, existing approaches are often…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

The NLP community has witnessed steep progress in a variety of tasks across the realms of monolingual and multilingual language processing recently. These successes, in conjunction with the proliferating mixed language interactions on…

This paper describes the implementation and evaluation of an open source library for mathematical morphology based on packed binary and run-length compressed images for document imaging applications. Abstractions and patterns useful in the…

Many complex real-world tasks are composed of several levels of sub-tasks. Humans leverage these hierarchical structures to accelerate the learning process and achieve better generalization. In this work, we study the inductive bias and…

Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…

Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…

Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…

Large language models (LLMs) have become increasingly capable, but their development often requires substantial computational resources. While model merging has emerged as a cost-effective promising approach for creating new models by…