Related papers: Planning Assembly Sequence with Graph Transformer
Answer Set Programming (ASP) is a paradigm for modeling and solving problems for knowledge representation and reasoning. There are plenty of results dedicated to studying the hardness of (fragments of) ASP. So far, these studies resulted in…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
Graph is a highly generic and diverse representation, suitable for almost any data processing problem. Spectral graph theory has been shown to provide powerful algorithms, backed by solid linear algebra theory. It thus can be extremely…
Provenance graphs are useful and powerful tools for representing system-level activities in cybersecurity; however, existing approaches often struggle with complex queries and flexible reasoning. This paper presents a novel approach using…
Integrating data from heterogeneous sources is often modeled as merging graphs. Given two or more 'compatible', but not-isomorphic graphs, the first step is to identify a graph alignment, where a potentially partial mapping of vertices…
What is the computational model behind a Transformer? Where recurrent neural networks have direct parallels in finite state machines, allowing clear discussion and thought around architecture variants or trained models, Transformers have no…
Most controlled natural languages (CNLs) are processed with the help of a pipeline architecture that relies on different software components. We investigate in this paper in an experimental way how well answer set programming (ASP) is…
Repetitive DNA (repeats) poses significant challenges for accurate and efficient genome assembly and sequence alignment. This is particularly true for metagenomic data, where genome dynamics such as horizontal gene transfer, gene…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
We propose a method for generating rule sets as global and local explanations for tree-ensemble learning methods using Answer Set Programming (ASP). To this end, we adopt a decompositional approach where the split structures of the base…
In a co-design environment changes need to be integrated quickly and in an automated manner. This paper considers the challenge of creating and optimizing a global logistics system for the construction of a passenger aircraft within a…
E-waste is growing rapidly while recycling rates remain low. We propose an electronic-device Graph-based Adaptive Planning (eGRAP) that integrates vision, dynamic planning, and dual-arm execution for autonomous disassembly. A…
We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…
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…
Recent studies on AMR-to-text generation often formalize the task as a sequence-to-sequence (seq2seq) learning problem by converting an Abstract Meaning Representation (AMR) graph into a word sequence. Graph structures are further modeled…
The graph realization problem has received a great deal of attention in recent years, due to its importance in applications such as wireless sensor networks and structural biology. In this paper, we extend on previous work and propose the…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Answer set programming (ASP) and planning are two widely used paradigms for solving logic programs with declarative programming. In both cases, the quality of the input programs has a major influence on the quality and performance of the…
Learning representations of nodes has been a crucial area of the graph machine learning research area. A well-defined node embedding model should reflect both node features and the graph structure in the final embedding. In the case of…
Graph mining for structural patterns is a fundamental task in many applications. Compilation-based graph mining systems, represented by AutoMine, generate specialized algorithms for the provided patterns and substantially outperform other…