human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "direct off line robot programming via a common cad package"
  Abstract: a b s t r a c t This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.

Connected through hyperedge HE-1 (induced by source paper "object detection and motion planning for automated welding of tubular joints"):
  with members:
    - "informed rrt optimal sampling based path planning focused via direct sampling of an admissible ellipsoidal heuristic"
    - "asymptotically near optimal rrt for fast high quality motion planning"
    - "difference of normals as a multi scale operator in unorganized point clouds"
    - "sampling based algorithms for optimal motion planning"

Connected through hyperedge HE-2 (induced by source paper "off line programming and simulation from cad drawings robot assisted sheet metal bending"):
  with members:
    - "high level robot programming based on cad dealing with unpredictable environments"
    - "a low cost laser scanning solution for flexible robotic cells spray coating"

Connected through hyperedge HE-3 (induced by source paper "an optimal fuzzy pi force motion controller to increase industrial robot autonomy"):
  with members:
    - "discretization and fitting of nominal data for autonomous robots"
    - "high level robot programming based on cad dealing with unpredictable environments"

Connected through hyperedge HE-4 (induced by source paper "high level robot programming based on cad dealing with unpredictable environments"):
  with members:
    - "discretization and fitting of nominal data for autonomous robots"
    - "an optimal fuzzy pi force motion controller to increase industrial robot autonomy"
    - "high level programming and control for industrial robotics using a hand held accelerometer based input device for gesture and posture recognition"
    - "accelerometer based control of an industrial robotic arm"

Question: Please tell me which class the center node belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)