Related papers: Quantifying the pathways to life using assembly sp…
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 path integral formulation of constrained systems leads to obtain the equations of motion as total differential equations in many variables. If these equations are integrable then one can constuct a valid and a canonical phase space…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
The connection between self-assembly and computation suggests that a shape can be considered the output of a self-assembly ``program,'' a set of tiles that fit together to create a shape. It seems plausible that the size of the smallest…
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…
This paper introduces a new approach for the automated reconstruction - reassembly of fragmented objects having one surface near to plane, on the basis of the 3D representation of their constituent fragments. The whole process starts by 3D…
The unprecedented prowess of measurement techniques provides a detailed, multi-scale look into the depths of living systems. Understanding these avalanches of high-dimensional data -- by distilling underlying principles and mechanisms --…
Pathway enrichment analysis has become a key tool for biomedical researchers to gain insight into the underlying biology of differentially expressed genes, proteins and metabolites. It reduces complexity and provides a system-level view of…
Computational materials discovery relies on the generation of plausible crystal structures. The plausibility is typically judged through density functional theory methods which, while typically accurate at zero Kelvin, often favor…
Additive manufacturing has the potential to become a standard method for manufacturing products, and product information is indispensable for the item distribution system. While most products are given barcodes to the exterior surfaces,…
This paper studies the structure of several real-world traces (including Facebook, High-Performance Computing, Machine Learning, and simulation generated traces) and presents a systematic approach to quantify and compare the structure of…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…
Narrow passage path planning is a prevalent problem from industrial to household sites, often facing difficulties in finding feasible paths or requiring excessive computational resources. Given that deep penetration into the environment can…
This paper examines the problem of ranking a collection of objects using pairwise comparisons (rankings of two objects). In general, the ranking of $n$ objects can be identified by standard sorting methods using $n log_2 n$ pairwise…
Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often…
We propose a method to learn, even using a dataset where objects appear only in sparsely sampled views (e.g. Pix3D), the ability to synthesize a pose trajectory for an arbitrary reference image. This is achieved with a cross-modal pose…
We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to the high-dimensional nature of the problem, we propose an…
Reassembling 3D broken objects is a challenging task. A robust solution that generalizes well must deal with diverse patterns associated with different types of broken objects. We propose a method that tackles the pairwise assembly of 3D…
We show the existence of regular combinatorial objects which previously were not known to exist. Specifically, for a wide range of the underlying parameters, we show the existence of non-trivial orthogonal arrays, t-designs, and t-wise…
De novo genome assembly focuses on finding connections between a vast amount of short sequences in order to reconstruct the original genome. The central problem of genome assembly could be described as finding a Hamiltonian path through a…