Related papers: String Diagrams for Assembly Planning
Assembly-based tools provide a powerful modeling paradigm for non-expert shape designers. However, choosing a component from a large shape repository and aligning it to a partial assembly can become a daunting task. In this paper we…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for…
We give parallel algorithms for string diagrams represented as structured cospans of ACSets. Specifically, we give linear (sequential) and logarithmic (parallel) time algorithms for composition, tensor product, construction of diagrams from…
In this work, we investigate automatic design composition from multimodal graphic elements. Although recent studies have developed various generative models for graphic design, they usually face the following limitations: they only focus on…
To adhere to the stringent time and budget requirements of construction projects, contractors are utilizing prefabricated construction methods to expedite the construction process. Prefabricated construction methods require an adequate…
This paper introduces the full Low-carbon Expansion Generation Optimization (LEGO) model available on Github (https://github.com/wogrin/LEGO). LEGO is a mixed-integer quadratically constrained optimization problem and has been designed to…
Grid layouts are used by designers to spatially organise user interfaces when sketching and wireframing. However, their design is largely time consuming manual work. This is challenging due to combinatorial explosion and complex objectives,…
Aggregating base elements into rigid objects such as furniture or sculptures is a great way for designers to convey a specific look and feel. Unfortunately, there is no existing solution to help model structurally sound aggregates. The…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…
Product disassembly is a labor-intensive process and is far from being automated. Typically, disassembly is not robust enough to handle product varieties from different shapes, models, and physical uncertainties due to component…
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled…
We represent planning as a set of loosely coupled network flow problems, where each network corresponds to one of the state variables in the planning domain. The network nodes correspond to the state variable values and the network arcs…
Hierarchically designed mechanical metamaterials involve nested levels of structural organization, mimicking natural structures (such as bones, wood, and bird feathers) to create advanced functional materials. Compositional hierarchy, a…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
In this survey paper, we review recent work on frameworks for the high-level, portable programming of heterogeneous multi-/manycore systems (especially, GPU-based systems) using high-level constructs such as annotated user-level software…
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…
This paper presents a scenario based robust optimization framework for short term energy scheduling in electricity intensive industrial plants, explicitly addressing uncertainty in planning decisions. The model is formulated as a two-stage…
Industrial LLM agent systems often separate planning from execution, yet LLM planners frequently produce structurally invalid or unnecessarily long workflows, leading to brittle failures and avoidable tool and API cost. We propose…