Related papers: String Diagrams for Assembly Planning
Generative models are now used to create a variety of high-quality digital artifacts. Yet their use in designing physical objects has received far less attention. In this paper, we advocate for the construction toy, LEGO, as a platform for…
Inferring step-wise actions to assemble 3D objects with primitive bricks from images is a challenging task due to complex constraints and the vast number of possible combinations. Recent studies have demonstrated promising results on…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
We present a generative model for complex free-form structures such as stroke-based drawing tasks. While previous approaches rely on sequence-based models for drawings of basic objects or handwritten text, we propose a model that treats…
The sheer sizes of modern datasets are forcing data-structure designers to consider seriously both parallel construction and compactness. To achieve those goals we need to design a parallel algorithm with good scalability and with low…
This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…
Previous work has attempted to boost Large Language Model (LLM) performance on planning and scheduling tasks through a variety of prompt engineering techniques. While these methods can work within the distributions tested, they are neither…
Stock and flow diagrams are widely used in epidemiology to model the dynamics of populations. Although tools already exist for building these diagrams and simulating the systems they describe, we have created a new package called StockFlow,…
Advances in CAD and CAM have enabled engineers and design teams to digitally design parts with unprecedented ease. Software solutions now come with a range of modules for optimizing designs for performance requirements, generating…
We consider the problem of leveraging prior experience to generate roadmaps in sampling-based motion planning. A desirable roadmap is one that is sparse, allowing for fast search, with nodes spread out at key locations such that a low-cost…
Although various structural optimization techniques have a sound mathematical basis, the practical constructability of optimal designs poses a great challenge in the manufacturing stage. Currently, there is only a limited number of unified…
Large language models (LLMs) have the potential to revolutionize how we design and implement compilers and code translation tools. However, existing LLMs struggle to handle long and complex programs. We introduce LEGO-Compiler, a novel…
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
We describe LEGO, a new approach to optimizing data movement whereby code is expressed as a layout-independent computation and composed with layouts for data and computation. This code generator organization derives complex indexing…
In this paper we present a theoretical analysis of graph-based service composition in terms of its dependency with service discovery. Driven by this analysis we define a composition framework by means of integration with fine-grained I/O…
A significant number of current industrial applications rely on web services. A cornerstone task in these applications is discovering a suitable service that meets the threshold of some user needs. Then, those services can be composed to…
In flexible assembly systems, existing task planning methods require a time-consuming configuration process by multiple experts to establish a production line for a new product. To address this challenge, we propose a multi-agent based task…
The algebraic zigzag construction has recently been introduced as a combinatorial foundation for a higher dimensional notion of string diagram. For use in a proof assistant, a layout algorithm is required to determine the optimal rendering…
To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with added stochastic noise to yield robustness scores--the…
We train a language model to generate LEGO-brick build sequences. While prior work has been restricted to discrete, voxel-like towers, we consider a much broader set of pieces, encompassing thousands of part types with diverse connection…