16 accepted papers
Online learning systems provide accessible learning opportunities for blind or low-vision students. To support access to complex scientific materials, the speech models used in these systems need to deliver accurate scientific formula verbalization. While recent large speech language models (LSLMs)
Knowledge tracing (KT) involves using the historical records of student-learning interactions to anticipate their performance on forthcoming questions. Central to this process is the modeling of human cognition to gain deeper insights into how knowledge is acquired and retained. Human cognition is c…
Knowledge tracing (KT) is an essential task in online education systems. It aims to predict the future performance of students based on their historical learning interaction data. Despite significant advancements in attention-based KT models, they still face some limitations: inaccurate input repres
Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for robotic manipulation generally relies on depth sensors based on, e.g., structured light, time-of-flight, and stereo-vision, wh
We introduce a robust framework, RGBTrack, for real-time 6D pose estimation and tracking that operates solely on RGB data, thereby eliminating the need for depth input for such dynamic and precise object pose tracking tasks. Building on the FoundationPose architecture, we devise a novel binary searc
Multi-Robot Path Planning (MRPP) on graphs, also known as Multi-Agent PathFinding (MAPF), is a well-established NP-hard problem with critically important applications. In (near)-optimally solving MRPP, as serial computation approaches its efficiency limits, parallelization offers a promising route t
Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the topic, computationally efficient and high-quality solutions are lacking, especially in lifelong settings where robots mu…
Knowledge tracing (KT) is the task of predicting students' future performance based on their historical learning interaction data. With the rapid advancement of attention mechanisms, many attention based KT models are developed. However, existing attention based KT models exhibit performance drops a…
Parking lots and autonomous warehouses for accommodating many vehicles/robots adopt designs in which the underlying graphs are well-connected to simplify planning and reduce congestion. In this study, we formulate and delve into the largest well-connected set (LWCS) problem and explore its applicati…
Optimal Multi-Robot Path Planning (MRPP) has garnered significant attention due to its many applications in domains including warehouse automation, transportation, and swarm robotics. Current MRPP solvers can be divided into reduction-based, search-based, and rule-based categories, each with their s…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion, and so on. The mobile robots (or agents) are assumed to hav…
Parking in large metropolitan areas is often a time-consuming task with further implications for traffic patterns that affect urban landscaping. Reducing the premium space needed for parking has led to the development of automated mechanical parking systems. Compared to regular garages having one or…
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate interactions between a robot arm and a complex scene containing many…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAV s) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional spaces, with provable 1. xx asymptotic makespan optimality g…
It is well-known that graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve. In this work, we propose the first low polynomial-time algorithm for MRPP achieving 1–1.5 asymptotic optimality guarantees on solution makespan (i.e., the time it takes to complete a reconfiguration of…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the divide-and-conquer principle, we design multiple spatial and…