Related papers: Tool Macgyvering: Tool Construction Using Geometri…

The introduction of new tools in people's workflow has always been promotive of new creative paths. This paper discusses the impact of using computational tools in the performance of creative tasks, especially focusing on graphic design.…

When a robot is operating in a dynamic environment, it cannot be assumed that a tool required to solve a given task will always be available. In case of a missing tool, an ideal response would be to find a substitute to complete the task.…

This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…

We present an application of hierarchical Bayesian estimation to robot map building. The revisiting problem occurs when a robot has to decide whether it is seeing a previously-built portion of a map, or is exploring new territory. This is a…

We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a tool…

Prehistoric humans invented stone tools for specialized tasks by not just maximizing the tool's immediate goal-completion accuracy, but also increasing their confidence in the tool for later use under similar settings. This factor…

In this paper, we investigate the problem of how to effectively master tool-use to solve complex visual reasoning tasks for Multimodal Large Language Models. To achieve that, we propose a novel Tool-supervised Reinforcement Learning…

Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…

This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…

In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, little attention has been devoted to relating these observed…

We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…

We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…

Digital Engineering currently relies on costly and often bespoke integration of disparate software products to assemble the authoritative source of truth of the system-of-interest. Tools not originally designed to work together become an…

Algorithms play a crucial role in many technological systems that control or affect various aspects of our lives. As a result, providing explanations for their decisions to address the needs of users and organisations is increasingly…

Computer model calibration typically operates by choosing parameter values in a computer model so that the model output faithfully predicts reality. By using performance targets in place of observed data, we show that calibration techniques…

We review some practical and philosophical questions raised by the use of machine learning in creative practice. Beyond the obvious problems regarding plagiarism and authorship, we argue that the novelty in AI Art relies mostly on a narrow…

This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…