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Hierarchical Task and Motion Planning in the Now
(2010-05-07)
In this paper we outline an approach to the integration of task planning and motion planning that has the following key properties: It is aggressively hierarchical. It makes choices and commits to them in a top-down fashion ...
UCM/MIT Indications, Referring Expressions, and Coreference Corpus (UMIREC corpus)
(2010-05-12)
This version of the UMIREC corpus has been superseded by version 1.1, found at http://hdl.handle.net/1721.1/57507. Please do not use version 1.0, as it contains corrupted coreference information. The correct, uncorrupted ...
CryptDB: A Practical Encrypted Relational DBMS
(2011-01-26)
CryptDB is a DBMS that provides provable and practical privacy in the face of a compromised database server or curious database administrators. CryptDB works by executing SQL queries over encrypted data. At its core are ...
What is Decidable about Strings?
(2011-02-01)
We prove several decidability and undecidability results for the satisfiability/validity problem of formulas over a language of finite-length strings and integers (interpreted as lengths of strings). The atomic formulas ...
Flexible Execution of Plans with Choice and Uncertainty
(2011-01-15)
Dynamic plan execution strategies allow an autonomous agent to respond to uncertainties, while improving robustness and reducing the need for an overly conservative plan. Executives have improved robustness by expanding ...
Multi-Output Learning via Spectral Filtering
(2011-01-24)
In this paper we study a class of regularized kernel methods for vector-valued learning which are based on filtering the spectrum of the kernel matrix. The considered methods include Tikhonov regularization as a special ...
SoftCast: Clean-slate Scalable Wireless Video
(2011-02-15)
Video broadcast and mobile video challenge the conventional wireless design. In broadcast and mobile scenarios the bit rate supported by the channel differs across receivers and varies quickly over time. The conventional ...
Neurons That Confuse Mirror-Symmetric Object Views
(2010-12-31)
Neurons in inferotemporal cortex that respond similarly to many pairs of mirror-symmetric images -- for example, 45 degree and -45 degree views of the same face -- have often been reported. The phenomenon seemed to be an ...
Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation
(2011-02-01)
We describe a new model for understanding hierarchical natural language commands for robot navigation and manipulation. The model has three components: a semantic structure that captures the hierarchical structure of ...
Mechanism Design With Approximate Player Types
(2011-02-16)
We investigate mechanism design when the players do not exactly know their types, but have instead only partial information about them.