Related papers: Computational LEGO Technic Design
We tackle the problem of constructive preference elicitation, that is the problem of learning user preferences over very large decision problems, involving a combinatorial space of possible outcomes. In this setting, the suggested…
Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faithfully capture snap-fit mechanics. We present BrickSim, the…
We develop a generic computational model that can be used effectively for establishing the existence of winning strategies for concrete finite combinatorial games. Our modelling is (equational) logic-based involving advanced techniques from…
Sketch design concepts are recurring patterns found in parametric CAD sketches. Though rarely explicitly formalized by the CAD designers, these concepts are implicitly used in design for modularity and regularity. In this paper, we propose…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…
Design representation is a common task in the design process to facilitate learning, analysis, redesign, communication, and other design activities. Traditional representation techniques rely on human expertise and manual construction and…
A common approach for teaching large language models (LLMs) to reason is to train on chain-of-thought (CoT) traces of in-distribution reasoning problems, but such annotated data is costly to obtain for every problem of interest. We want…
In the process of product design and digital fabrication, the structural analysis of a designed prototype is a fundamental and essential step. However, such a step is usually invisible or inaccessible to designers at the early sketching…
Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics,…
Robotics sets have been successfully used in elementary and secondary schools in conformance with the 'learning through play' philosophy fostered by LEGO Education, while utilizing the Constructionism didactic approach. Learners discover…
Sketch-based shape modeling aims to bridge the gap between 2D drawing and 3D modeling by providing an intuitive and accessible approach to create 3D shapes from 2D sketches. However, existing methods still suffer from limitations in…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
The predominant knowledge-based approach to automated model construction, compositional modelling, employs a set of models of particular functional components. Its inference mechanism takes a scenario describing the constituent interacting…
We consider the problem of co-designing embodied intelligence as a whole in a structured way, from hardware components such as propulsion systems and sensors to software modules such as control and perception pipelines. We propose a…
Large language models (LLMs) have recently attracted considerable interest for their ability to perform complex reasoning tasks, such as chain-of-thought (CoT) reasoning. However, most of the existing approaches to enhance this ability rely…
Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…
High-quality 3D ground-truth shapes are critical for 3D object reconstruction evaluation. However, it is difficult to create a replica of an object in reality, and even 3D reconstructions generated by 3D scanners have artefacts that cause…
The connection between self-assembly and computation suggests that a shape can be considered the output of a self-assembly ``program,'' a set of tiles that fit together to create a shape. It seems plausible that the size of the smallest…