Jing Wang

Yugao Zhu, Zhicheng Guo, Shang Liu et al.

The problem of k-way hypergraph partitioning is fundamental with significant applications in various fields, including VLSI design and scientific computing. State-of-the-art hypergraph partitioners commonly employ a multi-level framework encompassing coarsening, initial partitioning, uncoarsening, and refinement phases. However, many existing methods do not scale well to problems requiring a large number of partitions (i.e., large k). In pursuit of exceptionally high solution quality, existing memetic approaches often execute their two key operations, recombination and mutation, by invoking separate, standalone multi-level partitioners. This design choice, however, renders them significantly more time-consuming than standard multi-level partitioners. To make such memetic approaches more practical, we propose an advanced memetic framework, IMPart, which introduces novel recombination and mutation operators and integrates them directly into the uncoarsening phase of a single multi-level framework. This transforms the local searches of different granularities in the traditional multi-level framework into a sophisticated, collaborative search. Experimental results on multiple standard benchmarks demonstrate our framework more effectively escapes local optima and explores the global solution space for higher-quality solutions, substantially outperforming all existing hypergraph partitioners for large-$k$-way hypergraph partitioning. Our framework highlights a new paradigm for the development of advanced hypergraph partitioners.

Yugao Zhu, Zhicheng Guo, Yuchao Wu et al.

Hypergraph partitioning is a critical step in the design of complex embedded systems, essential for optimizing task mapping on heterogeneous MPSoCs and enabling multi-FPGA prototyping. Many existing methods rely on community detection to identify modules with dense internal and sparse external connections, typically utilizing them to constrain the coarsening phase--a widely adopted paradigm. In this work, we propose ComPart, a generalized framework that integrates diverse community detection methods to uncover high-quality clusterings throughout the post-coarsening stages (i.e., initial partitioning and uncoarsening). These discovered clusterings serve as distinct structural guides, enabling the refinement process to identify superior partitioning solutions. Our framework offers two key advantages: (1) it establishes a new paradigm that leverages community structures detected during uncoarsening to escape local optima and explore globally meaningful solution subspaces, transcending the limitations of standard local refinements; and (2) it flexibly accommodates both existing and future community detection methods. Furthermore, we theoretically generalize locally-dense decomposition--originally from graphs--to the hypergraph domain. We provide the formal extension and necessary proofs to apply this technique to hypergraphs, marking its first application in hypergraph partitioning. Specifically, we utilize this rigorously derived decomposition to guide the initial partitioning phase toward superior starting points. Experimental results on standard benchmarks demonstrate that our method consistently outperforms state-of-the-art methods in solution quality.

Yuvan Sharma, Dantong Niu, Anirudh Pai et al.

Existing vision encoders for robotics face a fundamental bottleneck: robotic datasets lack the scale necessary for large-scale pre-training. Prior work circumvents this data scarcity by turning to internet-scale image and language data or egocentric human video. While these models show promise, neither paradigm learns from paired vision and action data, which downstream visuomotor control policies require. However, robot trajectories, the most direct source of this paired signal, are not available at pre-training scale, motivating us to extract action signals from abundant human video instead. To this end, we introduce CAIP (Contrastive Action-Image Pre-training), a vision encoder that treats human hand poses from large-scale egocentric video as a proxy for end-effector actions. By extracting 3D hand keypoints, a representation that aligns naturally with downstream robot action spaces, CAIP learns a unified action-image representation through a contrastive objective. Leveraging 32,041 hours of egocentric human video and only 88 hours of robotic manipulation data, CAIP outperforms state-of-the-art vision encoders including DINOv2, SigLIP, MVP, and R3M. Evaluated on a challenging real-world dexterous manipulation setup using Dexmate Vega and Sharpa Wave hands, CAIP yields performance gains of more than 30% on tasks involving folding, pouring, and fine-grained manipulation. Our results show that our method of contrastive action-centric pre-training yields a scalable path to achieving robust visual representations better suited for physical interaction.