Related papers: Robots Assembling Machines: Learning from the Worl…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and…
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…
This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object…
Nowadays, electric robots play big role in many fields as they can replace humans and/or decrease the amount of load on humans. There are several types of robots that are present in the daily life, some of them are fully controlled by…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
The Swarmathon is a swarm robotics programming challenge that engages college students from minority-serving institutions in NASA's Journey to Mars. Teams compete by programming a group of robots to search for, pick up, and drop off…
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…
Individualized manufacturing of cars requires kitting: the collection of individual sets of part variants for each car. This challenging logistic task is frequently performed manually by warehouseman. We propose a mobile manipulation…
In recent years, the advancement of AI technologies has accelerated the development of smart factories. In particular, the automatic monitoring of product assembly progress is crucial for improving operational efficiency, minimizing the…
Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…
A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale in…
In 2015 we began a sub-challenge at the EndoVis workshop at MICCAI in Munich using endoscope images of ex-vivo tissue with automatically generated annotations from robot forward kinematics and instrument CAD models. However, the limited…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
Industry 4.0 introduced AI as a transformative solution for modernizing manufacturing processes. Its successor, Industry 5.0, envisions humans as collaborators and experts guiding these AI-driven manufacturing solutions. Developing these…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…
The challenge of establishing assurance in autonomy is rapidly attracting increasing interest in the industry, government, and academia. Autonomy is a broad and expansive capability that enables systems to behave without direct control by a…
Kitting refers to the task of preparing and grouping necessary parts and tools (or "kits") for assembly in a manufacturing environment. Automating this process simplifies the assembly task for human workers and improves efficiency. Existing…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…