The Mixed-Shelves Picker Routing Problem (MSPRP) is a fundamental challenge in warehouse logistics, where pickers must navigate a mixed-shelves environment to retrieve SKUs efficiently. Traditional heuristics and optimization-based approaches struggle with scalability, while recent machine learning methods often rely on sequential decision-making, leading to high solution latency and suboptimal agent coordination. In this work, we propose a novel hierarchical and parallel decoding approach for solving the min-max variant of the MSPRP via multi-agent reinforcement learning. While our approach generates a joint distribution over agent actions, allowing for fast decoding and effective picker coordination, our method introduces a sequential action selection to avoid conflicts in the multi-dimensional action space. Experiments show state-of-the-art performance in both solution quality and inference speed, particularly for large-scale and out-of-distribution instances.

Order picking is a crucial operation in warehouses that significantly impacts overall efficiency and profitability. This study addresses the dynamic order picking problem, a significant concern in modern warehouse management where real-time adaptation to fluctuating order arrivals and efficient picker routing are crucial. Traditional methods, often assuming fixed order sets, fall short in this dynamic environment. We utilize Deep Reinforcement Learning (DRL) as a solution methodology to handle the inherent uncertainties in customer demands. We focus on a single-block warehouse with an autonomous picking device, eliminating human behavioral factors. Our DRL framework enables the dynamic optimization of picker routes, significantly reducing order throughput times, especially under high order arrival rates. Experiments demonstrate a substantial decrease in order throughput time and unfulfilled orders compared to benchmark algorithms. We further investigate integrating a hyperparameter in the reward function that allows for flexible balancing between distance traveled and order completion time. Finally, we demonstrate the robustness of our DRL model for out-of-sample test instances.

Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the varying properties of different fabrics, complex dynamics when interacting with environments, and meeting required goal conditions. To address these challenges, we present \textit{One Fling to Goal}, an algorithm capable of handling fabric pieces with diverse shapes and physical properties across various scenarios. Our method learns a graph-based dynamics model equipped with environmental awareness. With this dynamics model, we devise a real-time controller to enable high-speed fabric manipulation in one attempt, requiring less than 3 seconds to finish the goal-conditioned task. We experimentally validate our method on a goal-conditioned manipulation task in five diverse scenarios. Our method significantly improves this goal-conditioned task, achieving an average error of 13.2mm in complex scenarios. Our method can be seamlessly transferred to real-world robotic systems and generalized to unseen scenarios in a zero-shot manner.

In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an optimization problem in such systems where we allocate pickers to AMRs in a stochastic environment. We propose a novel multi-objective Deep Reinforcement Learning (DRL) approach to learn effective allocation policies to maximize pick efficiency while also aiming to improve workload fairness amongst human pickers. In our approach, we model the warehouse states using a graph, and define a neural network architecture that captures regional information and effectively extracts representations related to efficiency and workload. We develop a discrete-event simulation model, which we use to train and evaluate the proposed DRL approach. In the experiments, we demonstrate that our approach can find non-dominated policy sets that outline good trade-offs between fairness and efficiency objectives. The trained policies outperform the benchmarks in terms of both efficiency and fairness. Moreover, they show good transferability properties when tested on scenarios with different warehouse sizes. The implementation of the simulation model, proposed approach, and experiments are published.

We envision a warehouse in which dozens of mobile robots and human pickers work together to collect and deliver items within the warehouse. The fundamental problem we tackle, called the order-picking problem, is how these worker agents must coordinate their movement and actions in the warehouse to maximise performance (e.g. order throughput). Established industry methods using heuristic approaches require large engineering efforts to optimise for innately variable warehouse configurations. In contrast, multi-agent reinforcement learning (MARL) can be flexibly applied to diverse warehouse configurations (e.g. size, layout, number/types of workers, item replenishment frequency), as the agents learn through experience how to optimally cooperate with one another. We develop hierarchical MARL algorithms in which a manager assigns goals to worker agents, and the policies of the manager and workers are co-trained toward maximising a global objective (e.g. pick rate). Our hierarchical algorithms achieve significant gains in sample efficiency and overall pick rates over baseline MARL algorithms in diverse warehouse configurations, and substantially outperform two established industry heuristics for order-picking systems.

The rapid development of e-commerce has brought new challenges to warehouse operations. Order picking plays a crucial role among all these operations, which directly affects the overall order fulfillment efficiency (Lamballais et al., 2017; Shen et al., 2020). The Robotic Mobile Fulfillment System (RMFS) is invented to improve order picking efficiency and reduce labour costs by exploiting rack-moving mobile robots (Boysen et al., 2017). The cooperation between the robots and movable racks eliminates pickers' unproductive movement in the picker-to-parts system (Battini et al., 2017). Compared with traditional manual warehouses, the picking performance of RMFS is far superior, which is reported to achieve over 600 order-lines per hour per workstation (Wulfraat, 2012; Banker, 2016). Nevertheless, order picking in RMFS needs further efficiency improvement due to the growing demand and increasingly tight delivery schedules brought by the prosperity of e-commerce (Batt & Gallino, 2019; Azadeh et al., 2017; Zhuang et al., 2021).

In this paper we present a novel application of detecting fruit picker activities based on time series data generated from wearable sensors. During harvesting, fruit pickers pick fruit into wearable bags and empty these bags into harvesting bins located in the orchard. Once full, these bins are quickly transported to a cooled pack house to improve the shelf life of picked fruits. For farmers and managers, the knowledge of when a picker bag is emptied is important for managing harvesting bins more effectively to minimise the time the picked fruit is left out in the heat (resulting in reduced shelf life). We propose a means to detect these bag-emptying events using human activity recognition with wearable sensors and machine learning methods. We develop a semi-supervised approach to labelling the data. A feature-based machine learning ensemble model and a deep recurrent convolutional neural network are developed and tested on a real-world dataset. When compared, the neural network achieves 86% detection accuracy.

Flutter Google cross-platform UI framework has released a new version 1.20 stable. Flutter is Google's UI framework to make apps for Android, iOS, Web, Windows, Mac, Linux, and Fuchsia OS. Since the last 2 years, the flutter Framework has already achieved popularity among mobile developers to develop Android and iOS apps. In the last few releases, Flutter also added the support of making web applications and desktop applications. Last month they introduced the support of the Linux desktop app that can be distributed through Canonical Snap Store(Snapcraft), this enables the developers to publish there Linux desktop app for their users and publish on Snap Store.

This paper introduces a model for incomplete utterance restoration (IUR) called JET (\textbf{J}oint learning token \textbf{E}xtraction and \textbf{T}ext generation). Different from prior studies that only work on extraction or abstraction datasets, we design a simple but effective model, working for both scenarios of IUR. Our design simulates the nature of IUR, where omitted tokens from the context contribute to restoration. From this, we construct a Picker that identifies the omitted tokens. To support the picker, we design two label creation methods (soft and hard labels), which can work in cases of no annotation data for the omitted tokens. The restoration is done by using a Generator with the help of the Picker on joint learning. Promising results on four benchmark datasets in extraction and abstraction scenarios show that our model is better than the pretrained T5 and non-generative language model methods in both rich and limited training data settings.\footnote{The code is available at \url{https://github.com/shumpei19/JET}}

Robotized warehouses are deployed to automatically distribute millions of items brought by the massive logistic orders from e-commerce. A key to automated item distribution is to plan paths for robots, also known as task planning, where each task is to deliver racks with items to pickers for processing and then return the rack back. Prior solutions are unfit for large-scale robotized warehouses due to the inflexibility to time-varying item arrivals and the low efficiency for high throughput. In this paper, we propose a new task planning problem called TPRW, which aims to minimize the end-to-end makespan that incorporates the entire item distribution pipeline, known as a fulfilment cycle. Direct extensions from state-of-the-art path finding methods are ineffective to solve the TPRW problem because they fail to adapt to the bottleneck variations of fulfillment cycles. In response, we propose Efficient Adaptive Task Planning, a framework for large-scale robotized warehouses with time-varying item arrivals. It adaptively selects racks to fulfill at each timestamp via reinforcement learning, accounting for the time-varying bottleneck of the fulfillment cycles. Then it finds paths for robots to transport the selected racks. The framework adopts a series of efficient optimizations on both time and memory to handle large-scale item throughput. Evaluations on both synthesized and real data show an improvement of $37.1\%$ in effectiveness and $75.5\%$ in efficiency over the state-of-the-arts.