Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more effectively, robots need to actively adapt support strategies throughout the long-horizon assembly process, while also generalizing across diverse part geometries. We propose A3D, a framework which learns adaptive affordances to identify optimal support and stabilization locations on furniture parts. The method employs dense point-level geometric representations to model part interaction patterns, enabling generalization across varied geometries. To handle evolving assembly states, we introduce an adaptive module that uses interaction feedback to dynamically adjust support strategies during assembly based on previous interactions. We establish a simulation environment featuring 50 diverse parts across 8 furniture types, designed for dual-arm collaboration evaluation. Experiments demonstrate that our framework generalizes effectively to diverse part geometries and furniture categories in both simulation and real-world settings.

Graph neural networks (GNNs) have proven to be powerful tools for learning from graph-structured data and have achieved great success in many applications. As the sizes of real-world graphs continue to grow, traditional GNN training methods face significant scalability challenges. Recently, disks have gained attention as a cost-effective solution to store large-scale graphs, and several disk-based GNN systems have been proposed to train large-scale graphs on a single machine. However, these systems either overlook the unique data characteristics of GNN workloads when designing cache plans or fail to fully exploit the multilevel hierarchy of storage and computation in system execution, thus resulting in disk I/O bottleneck and resource under-utilization. To address these issues, we present CaliEX, an advanced disk-based GNN system that employs joint optimizations of caching and execution within and across different training stages. CaliEX first designs tailored cache plans and execution policy for both graph topology and features to accelerate neighborhood sampling and feature gathering. Since these two training stages work on different types of data, CaliEX further auto-tunes the cache allocation and pipelines the execution across different stages to improve resource utilization and overall training throughput. Evaluations on multiple GNN models and various large-scale datasets show that CaliEX achieves 3.28 × speedup on average compared to existing disk-based GNN training systems.

Audiences cangain an immersive experience watching videos from multiple angles (a.k.a. viewpoints). Free Viewpoint Video (FVV) is developed to enable users to choose their preferred viewpoints during the play of a video. However, users may experience a delay if video frames of the chosen viewpoint cannot be timely loaded, or synthesized from multiple video streams of neighboring viewpoints. To address this problem, we present Edge-FVV, an edge-assisted FVV system that employs edge caches to reduce the delay in streaming the requested FVV from the server to client users. We first analyze the capacity and delay at edge caches when answering FVV requests. Next, we propose two types of machine learning algorithms that allocate the users’ requests to appropriate edge caches. Our evaluation shows that two types of proposed algorithms outperform benchmarks by 4.2-7.4% and 4.6-6.8%, respectively, in reducing the delay for FVV requests.

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be demanding in many cases. To cope with this limitation, we propose a method, dubbed DMotion, that trains a forward model from video data only, via disentangling the motion of controllable agent to model the transition dynamics. An object extractor and an interaction learner are trained in an end-to-end manner without supervision. The agent’s motions are explicitly represented using spatial transformation matrices containing physical meanings. In the experiments, DMotion achieves superior performance on learning an accurate forward model in a Grid World environment, as well as a more realistic robot control environment in simulation. With the accurate learned forward models, we further demonstrate their usage in model predictive control as an effective approach for robotic manipulations. Code, video and more materials are available at: https://hyperplane-lab.github.io/dmotion.