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Researcher profile

Jan Legerský

Jan Legerský contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
math.COmath.AGmath.MGRoboticsMachine LearningMathematical Software

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Published work

11 published item(s)

preprint2026arXiv

Learning Minimally Rigid Graphs with High Realization Counts

For minimally rigid graphs, the same edge-length data can admit multiple realizations (up to translations and rotations). Finding graphs with exceptionally many realizations is an extremal problem in rigidity theory, but exhaustive search quickly becomes infeasible due to the super-exponential growth of the number of candidate graphs and the high cost of realization-count evaluation. We propose a reinforcement-learning approach that constructs minimally rigid graphs via 0- and 1-extensions, also known as Henneberg moves. We optimize realization-count invariants using the Deep Cross-Entropy Method with a policy parameterized by a Graph Isomorphism Network encoder and a permutation-equivariant extension-level action head. Empirically, our method matches the known optima for planar realization counts and improves the best known bounds for spherical realization counts, yielding new record graphs.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

On the existence of paradoxical motions of generically rigid graphs on the sphere

We interpret realizations of a graph on the sphere up to rotations as elements of a moduli space of curves of genus zero. We focus on those graphs that admit an assignment of edge lengths on the sphere resulting in a flexible object. Our interpretation of realizations allows us to provide a combinatorial characterization of these graphs in terms of the existence of particular colorings of the edges. Moreover, we determine necessary relations for flexibility between the spherical lengths of the edges. We conclude by classifying all possible motions on the sphere of the complete bipartite graph with $3+3$ vertices where no two vertices coincide or are antipodal.

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preprint2022arXiv

Zero-sum cycles in flexible polyhedra

We show that if a polyhedron in the three-dimensional affine space with triangular faces is flexible, i.e., can be continuously deformed preserving the shape of its faces, then there is a cycle of edges whose lengths sum up to zero once suitably weighted by 1 and -1. We do this via elementary combinatorial considerations, made possible by a well-known compactification of the three-dimensional affine space as a quadric in the four-dimensional projective space. The compactification is related to the Euclidean metric, and allows us to use a simple degeneration technique that reduces the problem to its one-dimensional analogue, which is trivial to solve.

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preprint2021arXiv

Zero-sum cycles in flexible non-triangular polyhedra

Finding necessary conditions for the geometry of flexible polyhedra is a classical problem that has received attention also in recent times. For flexible polyhedra with triangular faces, we showed in a previous work the existence of cycles with a sign assignment for their edges, such that the signed sum of the edge lengths along the cycle is zero. In this work, we extend this result to flexible non-triangular polyhedra.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Bracing frameworks consisting of parallelograms

A rectangle in the plane can be continuously deformed preserving its edge lengths, but adding a diagonal brace prevents such a deformation. Bolker and Crapo characterized combinatorially which choices of braces make a grid of squares infinitesimally rigid using a bracing graph: a bipartite graph whose vertices are the columns and rows of the grid, and a row and column are adjacent if and only if they meet at a braced square. Duarte and Francis generalized the notion of the bracing graph to rhombic carpets, proved that the connectivity of the bracing graph implies rigidity and stated the other implication without proof. Nagy Kem gives the equivalence in the infinitesimal setting. We consider continuous deformations of braced frameworks consisting of a graph from a more general class and its placement in the plane such that every 4-cycle forms a parallelogram. We show that rigidity of such a braced framework is equivalent to the non-existence of a special edge coloring, which is in turn equivalent to the corresponding bracing graph being connected.

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preprint2020arXiv

Combinatorics of Bricard's octahedra

We re-prove the classification of flexible octahedra, obtained by Bricard at the beginning of the XX century, by means of combinatorial objects satisfying some elementary rules. The explanations of these rules rely on the use of a well-known creation of modern algebraic geometry, the moduli space of stable rational curves with marked points, for the description of configurations of graphs on the sphere. Once one accepts the objects and the rules, the classification becomes elementary (though not trivial) and can be enjoyed without the need of a very deep background on the topic.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

On the Classification of Motions of Paradoxically Movable Graphs

Edge lengths of a graph are called flexible if there exist infinitely many non-congruent realizations of the graph in the plane satisfying these edge lengths. It has been shown recently that a graph has flexible edge lengths if and only if the graph has a special type of edge coloring called NAC-coloring. We address the question how to determine all possible proper flexible edge lengths from the set of all NAC-colorings of a graph. We do so using restrictions to 4-cycle subgraphs.

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preprint2019arXiv

Graphs with Flexible Labelings allowing Injective Realizations

We consider realizations of a graph in the plane such that the distances between adjacent vertices satisfy the constraints given by an edge labeling. If there are infinitely many such realizations, counted modulo rigid motions, the labeling is called flexible. The existence of a flexible labeling, possibly non-generic, has been characterized combinatorially by the existence of a so called NAC-coloring. Nevertheless, the corresponding realizations are often non-injective. In this paper, we focus on flexible labelings with infinitely many injective realizations. We provide a necessary combinatorial condition on existence of such a labeling based also on NAC-colorings of the graph. By introducing new tools for the construction of such labelings, we show that the necessary condition is also sufficient up to 8 vertices, but this is not true in general for more vertices.

0 citations0 reviewsNo code linkedOpen access
preprint2018arXiv

On the maximal number of real embeddings of minimally rigid graphs in $\mathbb{R}^2$, $\mathbb{R}^3$ and $S^2$

Rigidity theory studies the properties of graphs that can have rigid embeddings in a euclidean space $\mathbb{R}^d$ or on a sphere and which in addition satisfy certain edge length constraints. One of the major open problems in this field is to determine lower and upper bounds on the number of realizations with respect to a given number of vertices. This problem is closely related to the classification of rigid graphs according to their maximal number of real embeddings. In this paper, we are interested in finding edge lengths that can maximize the number of real embeddings of minimally rigid graphs in the plane, space, and on the sphere. We use algebraic formulations to provide upper bounds. To find values of the parameters that lead to graphs with a large number of real realizations, possibly attaining the (algebraic) upper bounds, we use some standard heuristics and we also develop a new method inspired by coupler curves. We apply this new method to obtain embeddings in $\mathbb{R}^3$. One of its main novelties is that it allows us to sample efficiently from a larger number of parameters by selecting only a subset of them at each iteration. Our results include a full classification of the 7-vertex graphs according to their maximal numbers of real embeddings in the cases of the embeddings in $\mathbb{R}^2$ and $\mathbb{R}^3$, while in the case of $S^2$ we achieve this classification for all 6-vertex graphs. Additionally, by increasing the number of embeddings of selected graphs, we improve the previously known asymptotic lower bound on the maximum number of realizations. The methods and the results concerning the spatial embeddings are part of the proceedings of ISSAC 2018 (Bartzos et al, 2018).

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preprint2018arXiv

On the maximal number of real embeddings of spatial minimally rigid graphs

The number of embeddings of minimally rigid graphs in $\mathbb{R}^D$ is (by definition) finite, modulo rigid transformations, for every generic choice of edge lengths. Even though various approaches have been proposed to compute it, the gap between upper and lower bounds is still enormous. Specific values and its asymptotic behavior are major and fascinating open problems in rigidity theory. Our work considers the maximal number of real embeddings of minimally rigid graphs in $\mathbb{R}^3$. We modify a commonly used parametric semi-algebraic formulation that exploits the Cayley-Menger determinant to minimize the {\em a priori} number of complex embeddings, where the parameters correspond to edge lengths. To cope with the huge dimension of the parameter space and find specializations of the parameters that maximize the number of real embeddings, we introduce a method based on coupler curves that makes the sampling feasible for spatial minimally rigid graphs. Our methodology results in the first full classification of the number of real embeddings of graphs with 7 vertices in $\mathbb{R}^3$, which was the smallest open case. Building on this and certain 8-vertex graphs, we improve the previously known general lower bound on the maximum number of real embeddings in $\mathbb{R}^3$.

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