相关论文: Physically Feasible Decomposition of Engino$^{\cir…

Multi-robot systems of increasing size and complexity are used to solve large-scale problems, such as area exploration and search and rescue. A key decision in human-robot teaming is dividing a multi-robot system into teams to address…

Accurately simulating physics is crucial across scientific domains, with applications spanning from robotics to materials science. While traditional mesh-based simulations are precise, they are often computationally expensive and require…

We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset…

We propose a Reinforcement Learning based approach to approximately solve the Tree Decomposition (TD) problem. TD is a combinatorial problem, which is central to the analysis of graph minor structure and computational complexity, as well as…

We study the problem of planning paths for $p$ distinguishable pebbles (robots) residing on the vertices of an $n$-vertex connected graph with $p \le n$. A pebble may move from a vertex to an adjacent one in a time step provided that it…

With increasing game size, a problem of computational complexity arises. This is especially true in real world problems such as in social systems, where there is a significant population of players involved in the game, and the complexity…

In 2004, Klavins et al. introduced the use of graph grammars to describe -- and to program -- systems of self-assembly. We show that these graph grammars can be embedded in a graph rewriting characterization of distributed systems that was…

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…

Particle track reconstruction is traditionally computationally challenging due to the combinatorial nature of the tracking algorithms employed. Recent developments have focused on novel algorithms with graph neural networks (GNNs), which…

Graph condensation has emerged as an intriguing technique to save the expensive training costs of Graph Neural Networks (GNNs) by substituting a condensed small graph with the original graph. Despite the promising results achieved, previous…

Extremal Graph Theory heavily relies on exploring bounds and inequalities between graph invariants, a task complicated by the rapid combinatorial explosion of graphs. Various tools have been developed to assist researchers in navigating…

We study the problem of learning an unknown graph via group queries on node subsets, where each query reports whether at least one edge is present among the queried nodes. In general, learning arbitrary graphs with $n$ nodes and $k$ edges…

Graph Networks are used to make decisions in potentially complex scenarios but it is usually not obvious how or why they made them. In this work, we study the explainability of Graph Network decisions using two main classes of techniques,…

The ability to generate novel, diverse, and realistic 3D shapes along with associated part semantics and structure is central to many applications requiring high-quality 3D assets or large volumes of realistic training data. A key challenge…

In this paper, we present a new workflow for the computer-aided generation of physicalizations, addressing nested configurations in anatomical and biological structures. Physicalizations are an important component of anatomical and…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…

Online stores often utilize product relationships such as bundles and substitutes to improve their catalog quality and guide customers through myriad choices. Entity resolution using pairwise product matching models offers a means of…

We present a constraint model for the problem of producing a tree decomposition of a graph. The inputs to the model are a simple graph G, the number of nodes in the desired tree decomposition and the maximum cardinality of each node in that…

We have developed a simulation technique that uses non-linear finite element analysis and elastic fracture mechanics to compute physically plausible motion for three-dimensional, solid objects as they break, crack, or tear. When these…