Publications

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2025 December	Preference-Driven Multi-Objective Combinatorial Optimization with Conditional Computation. Mingfeng Fan, Jianan Zhou, Yifeng Zhang, Yaoxin Wu, Jinbiao Chen, and Guillaume Sartoretti. Accepted to the Thirty-ninth Annual Conference on Neural Information Processing Systems (NeurIPS 2025).
2025 December	COMPASS: Cooperative Multi-Agent Persistent Monitoring using Spatio-Temporal Attention Network. Xingjian Zhang, Yizhuo Wang, and Guillaume Sartoretti. Accepted for oral presentation at the IEEE International Symposium on Multi-Robot & Multi-Agent Systems (MRS 2025).
2025 September	Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation. Chengyang He, Gadiel Mark Sznaier Camps, Xu Liu, Mac Schwager, and Guillaume Sartoretti. Accepted for Oral Presentation at the Conference on Robot Learning (CoRL 2025). Paper Website.
2025 September	Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning. Jiaqi Cheng, Mingfeng Fan, Xuefeng Zhang, Jingsong Liang, Yuhong Cao, Guohua Wu, and Guillaume Sartoretti. Accepted to the Conference on Robot Learning (CoRL 2025).
2025 September	CogniPlan: Uncertainty-Guided Path Planning with Conditional Generative Layout Prediction. Yizhuo Wang, Haodong He, Jingsong Liang, Yuhong Cao, Ritabrata Chakraborty, and Guillaume Sartoretti. Accepted to the Conference on Robot Learning (CoRL 2025). Paper Website.
2025 September	Search-TTA: A Multimodal Test-Time Adaptation Framework for Visual Search in the Wild. Derek Tan, Boyang Liu, Alok Raj, Qi Xuan Ang, Weiheng Dai, Tanishq Duhan, Jimmy Chiun, Yuhong Cao, Florian Shkurti, and Guillaume Sartoretti. Accepted to the Conference on Robot Learning (CoRL 2025). HuggingFace Demo. Paper Website.
2025 July	Social Behavior as a Key to Learning-based Multi-Agent Pathfinding Dilemmas. Chengyang He, Tanishq Duhan, Parth Tulsyan, Patrick Kim, and Guillaume Sartoretti. Elsevier's Artificial Intelligence (AIJ).
2025 July	V2XFormer: A Multi-Stage Transformer for Multi-Agent Reinforcement Learning in V2X-Enabled Traffic Signal Control. Yifeng Zhang, Ping Gong, Weiyi He, Yilin Liu, Mingfeng Fan, and Guillaume Sartoretti. Accepted for presentation at the IEEE International Conference on Intelligent Transportation Systems (ITSC 2025).
2025 July	Ride the Flow: Dynamic Tensor and Adaptive Modeling for Short-Term Traffic Prediction. Yilin Liu and Guillaume Sartoretti. Accepted for presentation at the IEEE International Conference on Intelligent Transportation Systems (ITSC 2025).
2025 June	SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning. Peizhuo Li*, Hongyi Li*, Ge Sun, Jin Cheng, Xinrong Yang, Guillaume Bellegarda, Milad Shafiee, Yuhong Cao, Auke Ijspeert, and Guillaume Sartoretti. Robotics: Science and Systems (RSS 2025).
2025 May	DARE: Diffusion Policy for Autonomous Robot Exploration. Yuhong Cao*, Jeric Lew*, Jingsong Liang, Jin Cheng, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2025).
2025 May	SIGMA: Sheaf-Informed Geometric Multi-Agent Pathfinding. Shuhao Liao, Weihang Xia, Yuhong Cao, Weiheng Dai, Chengyang He, Wenjun Wu, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2025).
2025 May	MARVEL: Multi-Agent Reinforcement Learning for constrained field-of-View multi-robot Exploration in Large-scale environments. Jimmy Chiun, Shizhe Zhang, Yizhuo Wang, Yuhong Cao, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2025).
2025 May	Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding. He Jiang*, Yutong Wang*, Rishi Veerapaneni, Tanishq Duhan, Guillaume Sartoretti, and Jiaoyang Li. IEEE International Conference on Robotics and Automation (ICRA 2025). Best Student Paper Award and Best Paper Award on Multi-Robot Systems.
2025 March	LNS2+RL: Combining Multi-Agent Reinforcement Learning with Large Neighborhood Search in Multi-Agent Path Finding. Yutong Wang, Tanishq Duhan, Jiaoyang Li, and Guillaume Sartoretti. 39th Conference on Artificial Intelligence (AAAI 2025), oral presentation.
2025 February	Multi-UAV reconnaissance mission planning via deep reinforcement learning with simulated annealing. Mingfeng Fan, Huan Liu, Guohua Wu, Aldy Gunawan, and Guillaume Sartoretti. Swarm and Evolutionary Computation.
2025 February	CoordLight: Learning Decentralized Coordination for Network-Wide Traffic Signal Control. Yifeng Zhang, Harsh Goel, Peizhuo Li, Mehul Damani, Sandeep Chinchali, and Guillaume Sartoretti. IEEE Transactions on Intelligent Transportation Systems.
2025 January	Heterogeneous Multi-robot Task Allocation and Scheduling via Reinforcement Learning. Weiheng Dai, Utkarsh Rai, Jimmy Chiun, Yuhong Cao, and Guillaume Sartoretti. IEEE Robotics and Automation Letters (RA-L) 10(3).
2024 December	To Land or Not to Land? Digital Twin Approach for Safe Landing of Multirotors on Complex Terrain. Joshua Taylor, Wei-Yun Yau, Guillaume Sartoretti, and Efe Camci. IEEE Region 10 Conference (TENCON 2024).
2024 November	STAR: Swarm Technology for Aerial Robotics Research. Jimmy Chiun, Yan Rui Tan, Yuhong Cao, John Tan, and Guillaume Sartoretti. 24th International Conference on Control, Automation and Systems (ICCAS 2024).
2024 November	HDPlanner: Advancing Autonomous Deployments in Unknown Environments Through Hierarchical Decision Networks. Jingsong Liang, Yuhong Cao, Yixiao Ma, Hanqi Zhao, and Guillaume Sartoretti. IEEE Robotics and Automation Letters (RA-L) 10(1).
2024 September	ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning. Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, and Guillaume Sartoretti. Conference on Robot Learning (CoRL 2024).
2024 August	Privileged Reinforcement and Communication Learning for Distributed, Bandwidth-limited Multi-Robot Exploration. Yixao Ma, Jingsong Liang, Yuhong Cao, Derek Ming Siang Tan, and Guillaume Sartoretti. 17th International Symposium on Distributed Autonomous Robotics Systems (DARS 2024).
2024 July	DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies. Shivam Sood, Ge Sun, Peizhuo Li, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024).
2024 July	Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion. Ge Sun, Milad Shafiee, Peizhuo Li, Guillaume Bellegarda, Auke Ijspeert, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024).
2024 July	Reconfigurable multi-rotor for high-precision physical interaction. Joshua Taylor, Imanberdiyev Nursultan, Meng Yee (Michael) Chuah, Wei-Yun Yau, Guillaume Sartoretti, and Efe Camci. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024).
2024 July	HeteroLight: A General and Efficient Learning Approach for Heterogeneous Traffic Signal Control. Yifeng Zhang, Peizhuo Li, Mingfeng Fan, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024).
2024 July	IR2: Implicit Rendezvous for Robotic Exploration Teams under Sparse Intermittent Connectivity. Derek Ming Siang Tan, Ma Yixiao, Jingsong Liang, Yi Cheng Chng, Yuhong Cao, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024).
2024 May	Attention-based Priority Learning for Limited Time Multi-Agent Path Finding. Yibin Yang*, Mingfeng Fan*, Chengyang He, Jianqiang Wang, Heye Huang, and Guillaume Sartoretti. International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024).
2024 May	Collaborative Deep Reinforcement Learning for Solving Multi-Objective Vehicle Routing Problems. Yaoxin Wu*, Mingfeng Fan*, Zhiguang Cao, Ruobin Gao, Yaqing Hou, and Guillaume Sartoretti. International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024).
2024 May	Dynamic Coalition Formation and Routing for Multirobot Task Allocation via Reinforcement Learning. Weiheng Dai, Aditya Bidwai, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2024).
2024 May	ALPHA: Attention-based Long-horizon Pathfinding in Highly-structured Areas. Chengyang He, Tianze Yang, Tanishq Duhan, Yutong Wang, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2024).
2024 May	Learning Heterogeneous Multi-Agent Allocations for Ergodic Search. Ananya Rao, Guillaume Sartoretti, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2024).
2024 March	Deep Reinforcement Learning-based Large-scale Robot Exploration. Yuhong Cao, Rui Zhao, Yizhuo Wang, Bairan Xiang, and Guillaume Sartoretti. IEEE Robotics and Automation Letters (RA-L).
2024 February	Conditional Neural Heuristic for Multi-objective Vehicle Routing Problems. Mingfeng Fan, Yaoxin Wu, Zhiguang Cao, Wen Song, Guillaume Sartoretti, Huan Liu, and Guohua Wu. IEEE Transactions on Neural Networks and Learning Systems (TNNLS).
2023 December	Intent-based Deep Reinforcement Learning for Multi-agent Informative Path Planning. Tianze Yang, Yuhong Cao, and Guillaume Sartoretti. International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2023).
2023 November	Context-Aware Deep Reinforcement Learning for Autonomous Robotic Navigation in Unknown Area. Jingsong Liang*, Zhichen Wang*, Yuhong Cao*, Jimmy Chiun, Mengqi Zhang, and Guillaume Sartoretti. Conference on Robot Learning (CoRL 2023).
2023 August	Learning Temporally Abstract World Models without Online Experimentation. Benjamin Freed, Siddarth Venkatraman, Guillaume Sartoretti, Jeff Schneider, and Howie Choset. International Conference on Machine Learning (ICML 2023).
2023 July	Full Communication Memory Networks for Team-Level Cooperation Learning. Yutong Wang, Yizhuo Wang, and Guillaume Sartoretti. Springer's Autonomous Agents and Multi-Agent Systems.
2023 June	SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding. Yutong Wang, Bairan Xiang, Shinan Huang, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).
2023 June	Spatio-Temporal Attention Network for Persistent Monitoring of Multiple Mobile Targets. Yizhuo Wang, Yutong Wang, Yuhong Cao, and Guillaume Sartoretti. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).
2023 April	Legged robots for object manipulation: A review. Yifeng Gong, Ge Sun, Aditya Nair, Aditya Bidwai, Raghuram CS, John Grezmak, Guillaume Sartoretti, and Kathryn A. Daltorio. Frontiers in Mechanical Engineering.
2023 January	SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding. Yutong Wang, Bairan Xiang, Shinan Huang, and Guillaume Sartoretti. 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023) as an extended abstract.
2023 January	SocialLight: Distributed Cooperation Learning towards Network-Wide Traffic Signal Control. Harsh Goel, Yifeng Zhang, Mehul Damani, and Guillaume Sartoretti. 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023).
2023 January	ARiADNE: A Reinforcement learning approach using Attention-based Deep Networks for Exploration. Yuhong Cao, Tianxiang Hou, Yizhuo Wang, Xian Yi, and Guillaume Sartoretti. IEEE International Conference on Robotics and Automation (ICRA 2023).
2022 December	Deep Reinforcement Learning for UAV Routing in The Presence of Multiple Charging Stations. Mingfeng Fan, Yaoxin Wu, Tianjun Liao, Zhiguang Cao, Hongliang Guo, Guillaume Sartoretti, and Guohua Wu. IEEE Transactions on Vehicular Technology.
2022 October	CAtNIPP: Context-Aware Attention-based Network for Informative Path Planning. Yuhong Cao, Yizhuo Wang, Apoorva Vashisth, Haolin Fan, and Guillaume Sartoretti. Conference on Robot Learning (CoRL 2022).
2022 September	DAN: Decentralized Attention-based Neural Network to Solve the MinMax Multiple Traveling Salesman Problem. Yuhong Cao, Zhanhong Sun, and Guillaume Sartoretti. 16th International Symposium on Distributed Autonomous Robotics Systems (DARS 2022). Best Student Paper Award.
2022 September	Sparse Sensing in Ergodic Optimization. Ananya Rao, Ian Abraham, Guillaume Sartoretti, and Howie Choset. 16th International Symposium on Distributed Autonomous Robotics Systems (DARS 2021).
2022 August	Distributed Model Predictive Control of Connected Multi-Vehicle Systems at Unsignalized Intersections. Qiang Ge, Guillaume Sartoretti, Jingliang Duan, Shengbo Evben Li, Yuming Yin, and Sifa Zheng. 5th IEEE International Conference on Unmanned Systems (ICUS 2022). Best Paper Award.
2022 July	Joint-Space CPG for Safe Foothold Planning and Body Pose Control during Locomotion and Climbing. Ge Sun and Guillaume Sartoretti. IEEE Robotics and Automation Letters.
2022 July	Keyframe-based CPG for Stable Gait Design and Online Transitions in Legged Robots. Scott Shaw and Guillaume Sartoretti. IEEE Conference on Decision and Control (CDC 2022).
2022 July	Distributed Reinforcement Learning for Robot Teams: A Review. Yutong Wang, Mehul Damani, Pamela Wang, Yuhong Cao, and Guillaume Sartoretti. Springer's Current Robotics Reports.
2022 May	Multi-Agent Dynamic Ergodic Search with Low-Information Sensors. Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2022).
2022 May	Multi-Agent Traffic Signal Control via Distributed RL with Spatial and Temporal Feature Extraction. Yifeng Zhang, Mehul Damani, and Guillaume Sartoretti. International Workshop on Agent-Based Modelling of Urban Systems (ABMUS) @ AAMAS 2022.
2022 May	A general locomotion control framework for multi-legged locomotors. Baxi Chong, Yasemin Ozkan-Aydin, Jennifer Rieser, Guillaume Sartoretti, Tianyu Wang, Julian Whitman, Abdul Kaba, Enes Aydin, Ciera McFarland, Kelimar Diaz, and others. Bioinspiration & Biomimetics 17(4).
2022 April	FCMNet: Full Communication Memory Net for Team-Level Cooperation in Multi-Agent Systems. Yutong Wang and Guillaume Sartoretti. 21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022).
2022 March	ForMIC: Foraging via Multiagent RL with Implicit Communication. Samuel Shaw, Emerson Wenzel, Alexis Walker, and Guillaume Sartoretti. IEEE Robotics and Automation Letters 7(2).
2021 June	Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search. Guillaume Sartoretti, Ananya Rao, and Howie Choset. 15th International Symposium on Distributed Autonomous Robotics Systems (DARS 2021). Best Paper Award.
2021 May	Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments. Guillaume Sartoretti, Tianyu Wang, Gabriel Chuang, Qingyang Li, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2021).
2021 May	Flatland competition 2020: MAPF and MARL for efficient train coordination on a grid world. Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, and others. NeurIPS 2020 Competition and Demonstration Track.
2021 February	PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong. Mehul Damani, Zhiyao Luo, Emerson Wenzel, and Guillaume Sartoretti. IEEE Robotics and Automation Letters 6(2).
2021 January	Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion. Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M Rieser, Haosen Xing, Perrin E Schiebel, Jeffery W. Rankin, Krijn B Michel, Alfredo Nicieza, John R Hutchinson, Daniel I Goldman, and Howie Choset. The International Journal of Robotics Research.
2020 October	Sparse Discrete Communication Learning for Multi-Agent Cooperation Through Backpropagation. Benjamin Freed, Rohan James, Guillaume Sartoretti, and Howie Choset. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020).
2020 March	Simultaneous Policy and Discrete Communication Learning for Multi-Agent Cooperation. Benjamin Freed, Guillaume Sartoretti, and Howie Choset. IEEE Robotics and Automation Letters 5(2).
2020 February	Communication Learning via Backpropagation in Discrete Channels with Unknown Noise. Benjamin Freed, Guillaume Sartoretti, Jiaheng Hu, and Howie Choset. 34th Conference on Artificial Intelligence (AAAI 2020).
2019 October	Distributed Learning of Decentralized Control Policies for Articulated Mobile Robots. Guillaume Sartoretti, William Paivine, Yunfei Shi, Yue Wu, and Howie Choset. IEEE Transactions in Robotics 35(5).
2019 June	A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots. Baxi Chong, Yasemin Ozkan Aydin, Guillaume Sartoretti, Jennifer Rieser, Chaohui Gong, Haosen Xing, Howie Choset, and Daniel Goldman. Robotics: Science and Systems (RSS 2019).
2019 May	Workspace CPG with Body Pose Control for Stable, Directed Vision during Omnidirectional Locomotion. Samuel Shaw, Guillaume Sartoretti, Jake Olkin, William Paivine, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2019).
2019 March	PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. Guillaume Sartoretti, Justin Kerr, Yunfei Shi, Glenn Wagner, T. K. Satish Kumar, Sven Koenig, and Howie Choset. IEEE Robotics and Automation Letters 4(3).
2018 October	Distributed Reinforcement Learning for Multi-Robot Decentralized Collective Construction. Guillaume Sartoretti, Yue Wu, William Paivine, T. K. Satish Kumar, Sven Koenig, and Howie Choset. 14th International Symposium on Distributed Autonomous Robotics Systems (DARS 2018).
2018 June	Coordination of back bending and leg movements for quadrupedal locomotion. Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer Rieser, Haosen Xing, Jeff Rankin, Krijn Michel, Alfredo Nicieza, John Hutchinson, Daniel Goldman, and Howie Choset. Robotics: Science and Systems (RSS 2018).
2018 May	Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots. Francesco Ruscelli, Guillaume Sartoretti, Junyu Nan, Zhixin Feng, Matthew Travers, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2018).
2018 May	Distributed Learning for the Decentralized Control of Articulated Mobile Robots. Guillaume Sartoretti, Yunfei Shi, William Paivine, Matthew Travers, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2018).
2018 May	Central Pattern Generator With Inertial Feedback for Stable Locomotion and Climbing in Unstructured Terrain. Guillaume Sartoretti, Samuel Shaw, Katie Lam, Naixin Fan, Matthew Travers, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA 2018).
2016 May	Distributed planar manipulation in fluidic environments. Guillaume Sartoretti, Samuel Shaw, and M. Ani Hsieh. IEEE International Conference on Robotics and Automation (ICRA 2016).
2016 April	Control of Agent Swarms in Random Environments. Guillaume Sartoretti and Max-Olivier Hongler. Unknown venue (type=book).
2016 February	Leader-based versus soft control of multi-agent swarms. Guillaume Sartoretti. Artificial Life and Robotics 21(3).
2016 January	Interacting Brownian Swarms: Analytical Results. Guillaume Sartoretti and Max-Olivier Hongler. Entropy.
2015 October	Leader-Based versus Soft Control of Multi-Agent Swarms. Guillaume Sartoretti. International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015).
2014 December	Decentralized Self-Selection of Swarm Trajectories: From Dynamical System Theory to Robotic Implementation. Guillaume Sartoretti, Max-Olivier Hongler, Marcelo Elias Oliveira, and Francesco Mondada. Swarm Intelligence 8(4).
2014 June	The estimation problem and heterogenous swarms of autonomous agents. Guillaume Sartoretti, Max-Olivier Hongler, and Roger Filliger. Stochastic Modeling Techniques and Data Analysis International Conference (SMTDA 2014).
2013 August	Soft Control of Self-organized Locally Interacting Brownian Planar Agents. Guillaume Sartoretti and Max-Olivier Hongler. Computer Aided Systems Theory - EUROCAST 2013 (Lecture Notes in Computer Science).
2013 June	Self-organized mixed canonical-dissipative dynamics for Brownian planar agents. Guillaume Sartoretti and Max-Olivier Hongler. Cybernetics and Physics 2(1).
2013 April	Traffic prediction based on a local exchange of information. Bruno Barbieri, Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander. Journal of Cellular Automata 8(5-6).
2013 February	Soft control of swarms: Analytical approach. Guillaume Sartoretti and Max-Olivier Hongler. 5th International Conference on Agents and Artificial Intelligence (ICAART 2015).
2013 February	Self-Organized Mixed Canonic-Disipative Dynamics for Brownian Planar Agents. Guillaume Sartoretti and Max-Olivier Hongler. International Conference on Computer Aided Systems Theory (EUROCAST 2013).
2012 October	Decentralized Method for Traffic Monitoring. Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander. Cellular Automata - ACRI 2012 (Lecture Notes in Computer Science).