Related papers: String Diagrams for Assembly Planning
In recent years, various computing-in-memory (CIM) processors have been presented, showing superior performance over traditional architectures. To unleash the potential of various CIM architectures, such as device precision, crossbar size,…
Topological Interlocking assemblies are arrangements of blocks kinematically constrained by a fixed frame, such that all rigid body motions of each block are constrained only by its permanent contact with other blocks and the frame. In the…
The design space for a self-assembled multicomponent objects ranges from a solution in which every building block is unique to one with the minimum number of distinct building blocks that unambiguously define the target structure. Using a…
We investigate compositional structures in data embeddings from pre-trained vision-language models (VLMs). Traditionally, compositionality has been associated with algebraic operations on embeddings of words from a pre-existing vocabulary.…
Computer Aided Design systems provide tools for building and manipulating models of solid objects. Some also provide access to programming languages so that parametrised designs can be expressed. There is a sharp distinction, therefore,…
Column matching is a central task in reconciling schemas for data integration. Column names and descriptions are valuable for this task. LLMs can leverage such natural-language schema metadata. However, in many datasets, correct matching…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
Structural engineering knowledge can be of significant importance to the architectural design team during the early design phase. However, architects and engineers do not typically work together during the conceptual phase; in fact,…
In tasks like semantic parsing, instruction following, and question answering, standard deep networks fail to generalize compositionally from small datasets. Many existing approaches overcome this limitation with model architectures that…
We present a novel hierarchical framework for optimal transport (OT) using string diagrams, namely string diagrams of optimal transports. This framework reduces complex hierarchical OT problems to standard OT problems, allowing efficient…
We present a systematic, algebraically based, design methodology for efficient implementation of computer programs optimized over multiple levels of the processor/memory and network hierarchy. Using a common formalism to describe the…
We consider the setting of component-based design for real-time systems with critical timing constraints. Based on our earlier work, we propose a compositional specification theory for timed automata with I/O distinction, which supports…
Given the advances in reactive synthesis, it is a natural next step to consider more complex multi-process systems. Distributed synthesis, however, is not yet scalable. Compositional approaches can be a game changer. Here, the challenge is…
Artificial intelligence (AI) in its various forms finds more and more its way into complex distributed systems. For instance, it is used locally, as part of a sensor system, on the edge for low-latency high-performance inference, or in the…
Register allocation (mapping variables to processor registers or memory) and instruction scheduling (reordering instructions to increase instruction-level parallelism) are essential tasks for generating efficient assembly code in a…
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…
In this paper, a system to build music in an intuitive and accessible way, with Lego bricks, is presented. The system makes use of the new powerful and cheap possibilities that technology offers for making old things in a new way. The…
Large Language Models (LLMs) have showcased remarkable capabilities surpassing conventional NLP challenges, creating opportunities for use in production use cases. Towards this goal, there is a notable shift to building compound AI systems,…
Alignments, i.e., position-wise comparisons of two or more strings or ordered lists are of utmost practical importance in computational biology and a host of other fields, including historical linguistics and emerging areas of research in…
Planning is hard. The use of subgoals can make planning more tractable, but selecting these subgoals is computationally costly. What algorithms might enable us to reap the benefits of planning using subgoals while minimizing the…