Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation. - David Vainshtein; Oren Salzman (SOCS, 2021)

Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation. - David Vainshtein; Kiril Solovey; Oren Salzman (CoRR, 2022)

Terraforming - Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery. - David Vainshtein; Yaakov Sherma; Kiril Solovey; Oren Salzman (SOCS, 2023)

Robot Instance Segmentation with Few Annotations for Grasping. - Moshe Kimhi; David Vainshtein; Chaim Baskin; Dotan Di Castro (WACV, 2025)