Browsing CSAIL Technical Reports (July 1, 2003 - present) by Title

Now showing items 351-370 of 775

    • Integrated robot task and motion planning in belief space 

      Kaelbling, Leslie Pack; Lozano-Perez, Tomas (2012-07-03)
      In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution ...

    • Integrated Robot Task and Motion Planning in the Now 

      Kaelbling, Leslie Pack; Lozano-Perez, Tomas (2012-06-29)
      This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric ...

    • Intel Concurrent Collections for Haskell 

      Newton, Ryan; Chen, Chih-Ping; Marlow, Simon (2011-03-22)
      Intel Concurrent Collections (CnC) is a parallel programming model in which a network of steps (functions) communicate through message-passing as well as a limited form of shared memory. This paper describes a new ...

    • Interactive Animation of Dynamic Manipulation 

      Abe, Yeuhi; Popovic, Jovan (2006-02-28)
      Lifelike animation of manipulation must account for the dynamicinteraction between animated characters, objects, and their environment. Failing to do so would ignore the often significant effects objectshave on the motion ...

    • Interactive Visual Histories for Vector Graphics 

      Scull, Craig; Johnson, Steve; Aliaga, Frederick; Paris, Sylvain; Su, Sara L.; e.a. (2009-06-24)
      Presentation and graphics software enables users to experiment with variations of illustrations. They can revisit recent editing operations using the ubiquitous undo command, but they are limited to sequential exploration. ...

    • The Interval Programming Model Solution Algorithm Experimentation Tools and Results 

      Benjamin, Michael R. (2017-09-01)
      Interval programming (IvP) is model for representing multi-objective optimization problems along with a set of solution algorithms. This paper describes a set of IvP solution experiments run over randomly generated problem ...

    • Investigating shape representation in area V4 with HMAX: Orientation and Grating selectivities 

      Kouh, Minjoon; Riesenhuber, Maximilian (2003-09-08)
      The question of how shape is represented is of central interest to understanding visual processing in cortex. While tuning properties of the cells in early part of the ventral visual stream, thought to be responsible for ...

    • Iterative Collaborative Ranking of Customers and Providers 

      Teow, Loo Nin; Katabi, Dina (2006-07-04)
      This paper introduces a new application: predicting the Internet provider-customer market. We cast the problem in the collaborative filtering framework, where we use current and past customer-provider relationships to ...

    • Iterative Projection Methods for Structured Sparsity Regularization 

      Rosasco, Lorenzo; Verri, Alessandro; Santoro, Matteo; Mosci, Sofia; Villa, Silvia (2009-10-14)
      In this paper we propose a general framework to characterize and solve the optimization problems underlying a large class of sparsity based regularization algorithms. More precisely, we study the minimization of learning ...

    • Javari: Adding Reference Immutability to Java 

      Tschantz, Matthew S. (2006-09-05)
      This paper describes a programming language, Javari, that is capable of expressing and enforcing immutability constraints. The specific constraint expressed is that the abstract state of the object to which an immutable ...

    • Jenga: Harnessing Heterogeneous Memories through Reconfigurable Cache Hierarchies 

      Beckmann, Nathan; Tsai, Po-An; Sanchez, Daniel (2015-12-19)
      Conventional memory systems are organized as a rigid hierarchy, with multiple levels of progressively larger and slower memories. Hierarchy allows a simple, fixed design to benefit a wide range of applications, because ...

    • Jigsaw: Scalable Software-Defined Caches (Extended Version) 

      Beckmann, Nathan; Sanchez, Daniel (2013-09-01)
      Shared last-level caches, widely used in chip-multiprocessors (CMPs), face two fundamental limitations. First, the latency and energy of shared caches degrade as the system scales up. Second, when multiple workloads share ...

    • Keeping Mobile Robots Connected 

      Lynch, Nancy; Ley-Wild, Ruy; Kuhn, Fabian; Cornejo, Alejandro (2009-06-17)
      Designing robust algorithms for mobile agents with reliable communication is difficult due to the distributed nature of computation, in mobile ad hoc networks (MANETs) the matter is exacerbated by the need to ensure ...

    • Kernels for Vector-Valued Functions: a Review 

      Alvarez, Mauricio A.; Rosasco, Lorenzo; Lawrence, Neil D. (2011-06-30)
      Kernel methods are among the most popular techniques in machine learning. From a frequentist/discriminative perspective they play a central role in regularization theory as they provide a natural choice for the hypotheses ...

    • Keys Under Doormats: Mandating insecurity by requiring government access to all data and communications 

      Abelson, Harold; Anderson, Ross; Bellovin, Steven M.; Benaloh, Josh; Blaze, Matt; e.a. (2015-07-06)
      Twenty years ago, law enforcement organizations lobbied to require data and communication services to engineer their products to guarantee law enforcement access to all data. After lengthy debate and vigorous predictions ...

    • Kintinuous: Spatially Extended KinectFusion 

      Whelan, Thomas; Kaess, Michael; Fallon, Maurice; Johannsson, Hordur; Leonard, John; e.a. (2012-07-19)
      In this paper we present an extension to the KinectFusion algorithm that permits dense mesh-based mapping of extended scale environments in real-time. This is achieved through (i) altering the original algorithm such that ...

    • Knowledge Benchmarks in Adversarial Mechanism Design (Part I) and Implementation in Surviving Strategies (Part I) 

      Chen, Jing; Micali, Silvio (2008-07)
      We put forward new benchmarks and solution concepts for Adversarial Mechanism Design, as defined by [MV07.a], and we exemplify them in the case of truly combinatorial auctions.We benchmark the combined performance (the sum ...

    • Knowledge Benchmarks in Adversarial Mechanism Design and Implementation in Surviving Strategies (Part I) 

      Chen, Jing; Micali, Silvio (2008-06)
      We put forward new benchmarks and solution concepts for Adversarial Mechanism Design, as defined by [MV07.a], and we exemplify them in the case of truly combinatorial auctions.We benchmark the combined performance (the sum ...

    • Knowledge Flow Analysis for Security Protocols 

      Torlak, Emina; van Dijk, Marten; Gassend, Blaise; Jackson, Daniel; Devadas, Srinivas (2005-10-19)
      Knowledge flow analysis offers a simple and flexible way to find flaws in security protocols. A protocol is described by a collection of rules constraining the propagation of knowledge amongst principals. Because this ...

    • Kongming: A Generative Planner for Hybrid Systems with Temporally Extended Goals 

      Li, Hui X. (2010-04-09)
      Most unmanned missions in space and undersea are commanded by a "script" that specifies a sequence of discrete commands and continuous actions. Currently such scripts are mostly hand-generated by human operators. This ...