Related papers: Large Scale Distributed Collaborative Unlabeled Mo…

Manipulation tasks, like loading a dishwasher, can be seen as a sequence of spatial constraints and relationships between different objects. We aim to discover these rules from demonstrations by posing manipulation as a classification…

Modern machine learning techniques are successfully being adapted to data modeled as graphs. However, many real-world graphs are typically very large and do not fit in memory, often making the problem of training machine learning models on…

This paper studies semi-supervised object classification in relational data, which is a fundamental problem in relational data modeling. The problem has been extensively studied in the literature of both statistical relational learning…

The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in…

We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…

In this paper, we unroll the dynamics of the dual ascent (DA) algorithm in two coupled graph neural networks (GNNs) to solve constrained optimization problems. The two networks interact with each other at the layer level to find a saddle…

Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…

Continuum mechanics simulators, numerically solving one or more partial differential equations, are essential tools in many areas of science and engineering, but their performance often limits application in practice. Recent modern machine…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Graph Neural Networks (GNNs) have emerged as a notorious alternative to address learning problems dealing with non-Euclidean datasets. However, although most works assume that the graph is perfectly known, the observed topology is prone to…

Nowadays, the prevalence of sensor networks has enabled tracking of the states of dynamic objects for a wide spectrum of applications from autonomous driving to environmental monitoring and urban planning. However, tracking real-world…

In this paper, we focus on developing a novel unsupervised machine learning algorithm, named graph based multi-layer k-means++ (G-MLKM), to solve data-target association problem when targets move on a constrained space and minimal…

The recent rapid growth in mobile data traffic entails a pressing demand for improving the throughput of the underlying wireless communication networks. Network node deployment has been considered as an effective approach for throughput…

Graph representation learning methods are highly effective in handling complex non-Euclidean data by capturing intricate relationships and features within graph structures. However, traditional methods face challenges when dealing with…

Despite the recent success of Graph Neural Networks (GNNs), training GNNs on large graphs remains challenging. The limited resource capacities of the existing servers, the dependency between nodes in a graph, and the privacy concern due to…

This paper addresses the limitations of multi-node perception and delayed scheduling response in distributed systems by proposing a GNN-based multi-node collaborative perception mechanism. The system is modeled as a graph structure.…

Node representation learning on attributed graphs -- whose nodes are associated with rich attributes (e.g., texts and protein sequences) -- plays a crucial role in many important downstream tasks. To encode the attributes and graph…

Graph neural networks (GNNs) are powerful tools for developing scalable, decentralized artificial intelligence in large-scale networked systems, such as wireless networks, power grids, and transportation networks. Currently, GNNs in…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…

Modern robotic manufacturing requires collision-free coordination of multiple robots to complete numerous tasks in shared, obstacle-rich workspaces. Although individual tasks may be simple in isolation, automated joint task allocation,…