Related papers: Atlasing of Assembly Landscapes using Distance Geo…
We propose Matrix ALPS for recovering a sparse plus low-rank decomposition of a matrix given its corrupted and incomplete linear measurements. Our approach is a first-order projected gradient method over non-convex sets, and it exploits a…
Tile assembly systems in the abstract Tile Assembly Model (aTAM) are computationally universal and capable of building complex shapes, but DNA-based implementations encounter formidable error rates that stifle this theoretical potential.…
Quantifying the evolution and complexity of materials is of importance in many areas of science and engineering, where a central open challenge is developing experimental complexity measurements to distinguish random structures from evolved…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Approximate Graph Pattern Mining (AGPM) is essential for analyzing large-scale graphs where exact counting is computationally prohibitive. While there exist numerous sampling-based AGPM systems, they all rely on uniform sampling and…
Sampling-based motion planners rely on incremental densification to discover progressively shorter paths. After computing feasible path $\xi$ between start $x_s$ and goal $x_t$, the Informed Set (IS) prunes the configuration space…
The segmentation, seen as the association of a partition with an image, is a difficult task. It can be decomposed in two steps: at first, a family of contours associated with a series of nested partitions (or hierarchy) is created and…
We tackle the image reassembly problem with wide space between the fragments, in such a way that the patterns and colors continuity is mostly unusable. The spacing emulates the erosion of which the archaeological fragments suffer. We…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
We propose several sampling architectures for the efficient acquisition of an ensemble of correlated signals. We show that without prior knowledge of the correlation structure, each of our architectures (under different sets of assumptions)…
The weight space of an artificial neural network can be systematically explored using tools from statistical mechanics. We employ a combination of a hybrid Monte Carlo algorithm which performs long exploration steps, a ratchet-based…
Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…
Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…
The theoretical investigation of gas adsorption, storage, separation, diffusion and related transport processes in porous materials relies on a detailed knowledge of the potential energy surface of molecules in a stationary environment. In…
The earth texture with complex morphological geometry and compositions such as shale and carbonate rocks, is typically characterized with sparse field samples because of an expensive and time-consuming characterization process. Accordingly,…
The simulated self-assembly of molecular building blocks into functional complexes is a key area of study in computational biology and materials science. Self-assembly simulations of proteins using physically-motivated potentials for…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Earth observation foundation models encode land surface information into dense embedding vectors, yet the geometric structure of these representations and its implications for downstream reasoning remain underexplored. We characterize the…
An image pattern can be represented by a probability distribution whose density is concentrated on different low-dimensional subspaces in the high-dimensional image space. Such probability densities have an astronomical number of local…
Addressable self-assembly is the formation of a target structure from a set of unique molecular or colloidal building-blocks, each of which occupies a defined location in the target. The requirement that each type of building-block appears…