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Many HCIxfabrication systems are compelling as prototypes but remain difficult to reuse, extend, or transfer beyond their original publication. A common explanation is that adoption simply takes time. We argue that the issue is more…
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
We present a system that transforms speech into physical objects using 3D generative AI and discrete robotic assembly. By leveraging natural language, the system makes design and manufacturing more accessible to people without expertise in…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…
We describe an algorithm for solving an important geometric problem arising in computer-aided manufacturing. When cutting away a region from a solid piece of material -- such as steel, wood, ceramics, or plastic -- using a rough tool in a…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
The human-like automatic deductive reasoning has always been one of the most challenging open problems in the interdiscipline of mathematics and artificial intelligence. This paper is the third in a series of our works. We built a…
In this paper, we present a machine learning-based data generator framework tailored to aid researchers who utilize simulations to examine various physical systems or processes. High computational costs and the resulting limited data often…
Programs to solve so-called constraint problems are complex pieces of software which require many design decisions to be made more or less arbitrarily by the implementer. These decisions affect the performance of the finished solver…
Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…
This paper presents a reformulation of the construction of nonseparable multiresolution quaternion-valued wavelets on the plane as a feasibility problem. The constraint sets in the feasibility problem are derived from the standard…
We present GeoManip, a framework to enable generalist robots to leverage essential conditions derived from object and part relationships, as geometric constraints, for robot manipulation. For example, cutting the carrot requires adhering to…
Robotic technology can support the creation of new tools that improve the creative process of cinematography. It is crucial to consider the specific requirements and perspectives of industry professionals when designing and developing these…
Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…