Related papers: Assembly Planning by Subassembly Decomposition Usi…
Segmentation algorithms based on an energy minimisation framework often depend on a scale parameter which balances a fit to data and a regularising term. Irregular pyramids are defined as a stack of graphs successively reduced. Within this…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
The slice decomposition is a bijective method for enumerating planar maps (graphs embedded in the sphere) with control over face degrees. In this paper, we extend the slice decomposition to the richer setting of hypermaps, naturally…
In this paper, we propose an efficient reliability based segmentation-discarding decoding (SDD) algorithm for short block-length codes. A novel segmentation-discarding technique is proposed along with the stopping rule to significantly…
We propose a general framework for solving inverse self-assembly problems, i.e. designing interactions between elementary units such that they assemble spontaneously into a predetermined structure. Our approach uses patchy particles as…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
We develop a novel parallel decomposition strategy for unweighted, undirected graphs, based on growing disjoint connected clusters from batches of centers progressively selected from yet uncovered nodes. With respect to similar previous…
One of the most computationally intensive tasks in computational biology is de novo genome assembly, the decoding of the sequence of an unknown genome from redundant and erroneous short sequences. A common assembly paradigm identifies…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
As the artificial intelligence community advances into the era of large models with billions of parameters, distributed training and inference have become essential. While various parallelism strategies-data, model, sequence, and…
We investigate array separation logic (ASL), a variant of symbolic-heap separation logic in which the data structures are either pointers or arrays, i.e., contiguous blocks of allocated memory. This logic provides a language for…
Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
We introduce a parallel algorithmic architecture for metagenomic sequence assembly, termed MetaPar, which allows for significant reductions in assembly time and consequently enables the processing of large genomic datasets on computers with…
Self-assembly of complex and functional materials remains a grand challenge in soft material science. Efficient assembly depends on a delicate balance between thermodynamic and kinetic effects, requiring fine-tuning affinities and…
Cutting planes and branching are two of the most important algorithms for solving mixed-integer linear programs. For both algorithms, disjunctions play an important role, being used both as branching candidates and as the foundation for…
A tree decomposition of a graph facilitates computations by grouping vertices into bags that are interconnected in an acyclic structure, hence their importance in a plethora of problems such as query evaluation over databases and inference…
Bit-level sparsity in neural network models harbors immense untapped potential. Eliminating redundant calculations of randomly distributed zero-bits significantly boosts computational efficiency. Yet, traditional digital SRAM-PIM…
Serializability is a well-understood concurrency control mechanism that eases reasoning about highly-concurrent database programs. Unfortunately, enforcing serializability has a high-performance cost, especially on geographically…