Related papers: IKEA Furniture Assembly Environment for Long-Horiz…
Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…
The availability of a large labeled dataset is a key requirement for applying deep learning methods to solve various computer vision tasks. In the context of understanding human activities, existing public datasets, while large in size, are…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real…
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
To effectively assist human workers in assembly tasks a robot must proactively offer support by inferring their preferences in sequencing the task actions. Previous work has focused on learning the dominant preferences of human workers for…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
Efficient authoring of vast virtual environments hinges on algorithms that are able to automatically generate content while also being controllable. We propose a method to automatically generate furniture layouts for indoor environments.…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components…
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
We present iGibson 1.0, a novel simulation environment to develop robotic solutions for interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive home-sized scenes with 108 rooms populated with rigid…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…