相关论文: Subassembly to Full Assembly: Effective Assembly S…

Inferring step-wise actions to assemble 3D objects with primitive bricks from images is a challenging task due to complex constraints and the vast number of possible combinations. Recent studies have demonstrated promising results on…

Recent studies in using deep reinforcement learning (DRL) to solve Job-shop scheduling problems (JSSP) focus on construction heuristics. However, their performance is still far from optimality, mainly because the underlying graph…

Graph-based learning excels at capturing interaction patterns in diverse domains like recommendation, fraud detection, and particle physics. However, its performance often degrades under distribution shifts, especially those altering…

Reinforcement Learning (RL) has achieved significant success in application domains such as robotics, games and health care. However, training RL agents is very time consuming. Current implementations exhibit poor performance due to…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

Node embedding is the task of extracting informative and descriptive features over the nodes of a graph. The importance of node embeddings for graph analytics, as well as learning tasks such as node classification, link prediction and…

In this study, we focus on the graph representation learning (a.k.a. network embedding) in attributed graphs. Different from existing embedding methods that treat the incorporation of graph structure and semantic as the simple combination…

Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Most graph-to-text works are built on the encoder-decoder framework with cross-attention mechanism. Recent studies have shown that explicitly modeling the input graph structure can significantly improve the performance. However, the vanilla…

This paper investigates robotic peg-in-hole assembly using the Elementary Dynamic Actions (EDA) framework, which models contact-rich tasks through a combination of submovements, oscillations, and mechanical impedance. Rather than focusing…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

This paper studies graph-based active learning, where the goal is to reconstruct a binary signal defined on the nodes of a weighted graph, by sampling it on a small subset of the nodes. A new sampling algorithm is proposed, which…

Complex structures are typical in machine learning. Tailoring learning algorithms for every structure requires an effort that may be saved by defining a generic learning procedure adaptive to any complex structure. In this paper, we propose…

In this work we propose a learning approach to high-precision robotic assembly problems. We focus on the contact-rich phase, where the assembly pieces are in close contact with each other. Unlike many learning-based approaches that heavily…

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…

To train good supervised and semi-supervised object classifiers, it is critical that we not waste the time of the human experts who are providing the training labels. Existing active learning strategies can have uneven performance, being…

Ensuring reliability in modern software systems requires rigorous pre-production testing across highly heterogeneous and evolving environments. Because exhaustive evaluation is infeasible, practitioners must decide how to allocate limited…

We introduce SPAFormer, an innovative model designed to overcome the combinatorial explosion challenge in the 3D Part Assembly (3D-PA) task. This task requires accurate prediction of each part's poses in sequential steps. As the number of…

We present a method to learn automaton models that are more robust to input modifications. It iteratively aligns sequences to a learned model, modifies the sequences to their aligned versions, and re-learns the model. Automaton learning…