Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first algorithmic study on optimally solving the problem of Multi-layer Object Rearrangement on a Tabletop (MORT), in which one object may be relocated at a time, and an object can only be moved if other objects do not block its top surface. In addition, any intermediate structure during the reconfiguration process must be physically stable, i.e., it should stand without external support. To tackle the dual challenges of untangling the dependencies between objects and ensuring structural stability, we develop an algorithm that interleaves the computation of the optimal rearrangement plan and structural stability checking. Using a carefully constructed integer linear programming (ILP) model, our algorithm, Stability-aware Integer Programming-based Planner (SIPP), readily scales to optimally solve complex rearrangement problems of 3D structures with over 60 building blocks, with solution quality significantly outperforming natural greedy best-first approaches. Upon the publication of the manuscript, source code and data will be available at https://github.com/arc-l/mort/

Exterior contour and interior structure are both vital features for classifying objects. However, most of the existing methods consider exterior contour feature and internal structure feature separately, and thus fail to function when classifying patchy image structures that have similar contours and flexible structures. To address above limitations, this paper proposes a novel Multi-Orientation Region Transform (MORT), which can effectively characterize both contour and structure features simultaneously, for patchy image structure classification. MORT is performed over multiple orientation regions at multiple scales to effectively integrate patchy features, and thus enables a better description of the shape in a coarse-to-fine manner. Moreover, the proposed MORT can be extended to combine with the deep convolutional neural network techniques, for further enhancement of classification accuracy. V ery encouraging experimental results on the challenging ultra-fine-grained cultivar recognition task, insect wing recognition task, and large variation butterfly recognition task are obtained, which demonstrate the effectiveness and superiority of the proposed MORT over the state-of-the-art methods in classifying patchy image structures. Our code and three patchy image structure datasets are available at: https://github.com/XiaohanY

Extracting actionable insight from Electronic Health Records (EHRs) poses several challenges for traditional machine learning approaches. Patients are often missing data relative to each other; the data comes in a variety of modalities, such as multivariate time series, free text, and categorical demographic information; important relationships among patients can be difficult to detect; and many others. In this work, we propose a novel approach to address these first three challenges using a representation learning scheme based on message passing. We show that our proposed approach is competitive with or outperforms the state of the art for predicting in-hospital mortality (binary classification), the length of hospital visits (regression) and the discharge destination (multiclass classification).

Just the idea of touching a sexual organ was a problem." Jarnfelt and Hasselager are at the centre of a growing community of developers who are making games that explore issues around sex and sexuality. They help run the annual Lyst conference, where developers meet to discuss and show off games such as Breakup – a VR experience in which you endlessly repeat the last few moments of a relationship – and Pocket Jockey – in which players make other players' phones vibrate. The third Lyst event took place in Hamar, Norway, last weekend. "The community is growing, we're getting more and more participants," says Hasselager. "Love, romance and sex are some of the most natural human emotions but they are portrayed so badly in games," she says.