6 accepted papers
We propose Synchronous Dual-Arm Rearrange- ment Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange objects whose start and goal config- urations are strongly e…
Space-Ground Integrated Networks (SGIN) devices are at risk of hardware Trojan attacks. Currently, existing detection schemes (e.g., deep learning) require a large amount of labeled samples. However, obtaining a high-quality labeled hardware Trojan dataset for SGIN devices is challenging due to the…
Shortest-path roadmaps, also known as reduced visibility graphs, provide a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps can compute optimal paths for a translating robot in 2D. In thi
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (IPCC), which allows contacts to happen between arbitrary pairs of points on the object and the robot gripper. We show tha
3-D human pose estimation is a crucial step for understanding human actions. However, reliably capturing precise 3-D position of human joints is non-trivial and tedious. Current models often suffer from the scarcity of high-quality 3-D annotated training data. In this work, we explore a novel way of…
Cross-modality semantic matching is a vital task in computer vision and has attracted increasing attention in recent years. Existing methods mainly explore object-based alignment between image objects and text words. In this work, we address this task from two previously-ignored aspects: high-order…