Related papers: HyperGraph ROS: An Open-Source Robot Operating Sys…
Graphs are a ubiquitous data structure in diverse domains such as machine learning, social networks, and data mining. As real-world graphs continue to grow beyond the memory capacity of single machines, out-of-core graph processing systems…
A novel language system has given rise to promising alternatives to standard formal and processor network models of computation. An interstring linked with a abstract machine environment, shares sub-expressions, transfers data, and…
Dexterous grasping remains a central challenge in robotics due to the complexity of its high-dimensional state and action space. We introduce T(R,O) Grasp, a diffusion-based framework that efficiently generates accurate and diverse grasps…
Hypergraphs are generalisation of graphs in which a hyperedge can connect any number of vertices. It can describe n-ary relationships and high-order information among entities compared to conventional graphs. In this paper, we study the…
Hypersparse matrices are a powerful enabler for a variety of network, health, finance, and social applications. Hierarchical hypersparse GraphBLAS matrices enable rapid streaming updates while preserving algebraic analytic power and…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
We present an efficient distributed memory parallel algorithm for computing connected components in undirected graphs based on Shiloach-Vishkin's PRAM approach. We discuss multiple optimization techniques that reduce communication volume as…
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close…
Fast and reliable optimal power flow (OPF) approximation is essential for reliable smart-grid operation, yet many learning-based surrogates either flatten the native heterogeneous structure of power networks, target a limited set of grid…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
The increasing parallelism of many-core systems demands for efficient strategies for the run-time system management. Due to the large number of cores the management overhead has a rising impact to the overall system performance. This work…
This paper presents a novel distributed approach for solving AC power flow (PF) problems. The optimization problem is reformulated into a distributed form using a communication structure corresponding to a hypergraph, by which complex…
Performance of distributed graph processing systems significantly suffers from 'communication bottleneck' as a large number of messages are exchanged among servers at each step of the computation. Motivated by graph based MapReduce, we…
Modern LLM reinforcement learning (RL) workloads require a highly efficient weight transfer system to scale training across heterogeneous computational resources. However, existing weight transfer approaches either fail to provide…
Hypergraphs provide a natural representation for many-to-many relationships in data-intensive applications, yet their scalability is often hindered by high memory consumption. While prior work has improved computational efficiency, reducing…
We introduce BriskStream, an in-memory data stream processing system (DSPSs) specifically designed for modern shared-memory multicore architectures. BriskStream's key contribution is an execution plan optimization paradigm, namely RLAS,…
Neuromorphic computing systems comprise networks of neurons that use asynchronous events for both computation and communication. This type of representation offers several advantages in terms of bandwidth and power consumption in…
Graphs are the most ubiquitous data structures for representing relational datasets and performing inferences in them. They model, however, only pairwise relations between nodes and are not designed for encoding the higher-order relations.…
The INDES project-team of Inria has been developing HOP, a multi-tier language for Web programming. As part of the RAPP FP7 European project, the team has set out to use HOP as the lingua franca of the robotics applications developed within…
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…