相关论文: Leveraging Hyperbolic Embeddings for Coarse-to-Fin…

Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…

This study focuses on the energy optimization of industrial robotic cells, which is essential for sustainable production in the long term. A holistic approach that considers a robotic cell as a whole toward minimizing energy consumption is…

Multilayer networks offer a powerful framework for modeling complex systems across diverse domains, effectively capturing multiple types of connections and interdependent subsystems commonly found in real world scenarios. To analyze these…

During developmental processes such as embryogenesis, how a group of cells fold into specific structures, is a central question in biology that defines how living organisms form. Establishing tissue-level morphology critically relies on how…

Hyperbolic geometry has emerged as a powerful tool for modeling complex, structured data, particularly where hierarchical or tree-like relationships are present. By enabling embeddings with lower distortion, hyperbolic neural networks offer…

Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in…

Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…

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…

High-fidelity electron microscopy simulations required for quantitative crystal structure refinements face a fundamental challenge: while physical interactions are well-described theoretically, real-world experimental effects are…

Hierarchical data is common in many domains like life sciences and e-commerce, and its embeddings often play a critical role. While hyperbolic embeddings offer a theoretically grounded approach to representing hierarchies in low-dimensional…

Hyperbolic embeddings are a class of representation learning methods that offer competitive performances when data can be abstracted as a tree-like graph. However, in practice, learning hyperbolic embeddings of hierarchical data is…

In the field of machine learning, hyperbolic space demonstrates superior representation capabilities for hierarchical data compared to conventional Euclidean space. This work focuses on the Coarse-To-Fine Few-Shot Class-Incremental Learning…

The use of multigrid and related preconditioners with the finite element method is often limited by the difficulty of applying the algorithm effectively to a problem, especially when the domain has a complex shape or adaptive refinement. We…

Hierarchical reinforcement learning deals with the problem of breaking down large tasks into meaningful sub-tasks. Autonomous discovery of these sub-tasks has remained a challenging problem. We propose a novel method of learning sub-tasks…

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…

Hyperbolic rotation is commonly used to effectively model knowledge graphs and their inherent hierarchies. However, existing hyperbolic rotation models rely on logarithmic and exponential mappings for feature transformation. These models…

Machine unlearning methods have become increasingly important for selective concept removal in large pre-trained models. While recent work has explored unlearning in Euclidean contrastive vision-language models, the effectiveness of concept…

As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…

Hypergraphs have been becoming a popular choice to model complex, non-pairwise, and higher-order interactions for recommender system. However, compared with traditional graph-based methods, the constructed hypergraphs are usually much…

This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…