Related papers: Planning Assembly Sequence with Graph Transformer
Recent advancements in text-to-image generation have been propelled by the development of diffusion models and multi-modality learning. However, since text is typically represented sequentially in these models, it often falls short in…
Answer Set Programming (ASP) is a truly-declarative programming paradigm proposed in the area of non-monotonic reasoning and logic programming, that has been recently employed in many applications. The development of efficient ASP systems…
Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…
With distributed computing and mobile applications becoming ever more prevalent, synchronizing diverging replicas of the same data is a common problem. Reconciliation -- bringing two replicas of the same data structure as close as possible…
Graph mining applications analyze the structural properties of large graphs, and they do so by finding subgraph isomorphisms, which makes them computationally intensive. Existing graph mining techniques including both custom graph mining…
De novo genome assembly is challenging in highly repetitive regions; however, reference-guided assemblers often suffer from bias. We propose a framework for pangenome-guided sequence assembly, which can resolve short-read data in complex…
Conventional defect detection systems in Automated Fibre Placement (AFP) typically rely on end-to-end supervised learning, necessitating a substantial number of labelled defective samples for effective training. However, the scarcity of…
Answer Set Programming (ASP) is logic programming under the stable model or answer set semantics. During the last decade, this paradigm has seen several extensions by generalizing the notion of atom used in these programs. Among these,…
We explore a generalization of set reconciliation, where the goal is to reconcile sets of sets. Alice and Bob each have a parent set consisting of $s$ child sets, each containing at most $h$ elements from a universe of size $u$. They want…
Reconstructing components of a genomic mixture from data obtained by means of DNA sequencing is a challenging problem encountered in a variety of applications including single individual haplotyping and studies of viral communities.…
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…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Approximate Graph Pattern Mining (AGPM) is essential for analyzing large-scale graphs where exact counting is computationally prohibitive. While there exist numerous sampling-based AGPM systems, they all rely on uniform sampling and…
Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…
The explication and the generation of explanations are prominent topics in artificial intelligence and data science, in order to make methods and systems more transparent and understandable for humans. This paper investigates the problem of…
Analog layout synthesis requires some elements in the circuit netlist to be matched and placed symmetrically. However, the set of symmetries is very circuit-specific and a versatile algorithm, applicable to a broad variety of circuits, has…
In this work, we propose a graph-adaptive pruning (GAP) method for efficient inference of convolutional neural networks (CNNs). In this method, the network is viewed as a computational graph, in which the vertices denote the computation…
We argue that Transformers are essentially graph-to-graph models, with sequences just being a special case. Attention weights are functionally equivalent to graph edges. Our Graph-to-Graph Transformer architecture makes this ability…
A quest to determine the complete sequence of a human DNA from telomere to telomere started three decades ago and was finally completed in 2021. This accomplishment was a result of a tremendous effort of numerous experts who engineered…
Program source code contains complex structure information, which can be represented in structured data forms like trees or graphs. To acquire the structural information in source code, most existing researches use abstract syntax trees…