Related papers: Assembly Sequences Based on Multiple Criteria Agai…
CAD models are widely used in industry and are essential for robotic automation processes. However, these models are rarely considered in novel AI-based approaches, such as the automatic synthesis of robot programs, as there are no readily…
Instances generation is crucial for linear programming algorithms, which is necessary either to find the optimal pivot rules by training learning method or to evaluate and verify corresponding algorithms. This study proposes a general…
With the advancement of generative AI, research on its application to 3D model generation has gained traction, particularly in automating the creation of Computer-Aided Design (CAD) files from images. GenCAD is a notable model in this…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
We use analytic theory and computer simulation to study patterns formed during the growth of two-component assemblies in 2D and 3D. We show that these patterns undergo a nonequilibrium phase transition, at a particular growth rate, between…
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…
Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…
There are a variety of choices to be made in both computer algebra systems (CASs) and satisfiability modulo theory (SMT) solvers which can impact performance without affecting mathematical correctness. Such choices are candidates for…
3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…
This paper introduces the MeshAC package, which generates three-dimensional adaptive meshes tailored for the efficient and robust implementation of multiscale coupling methods. While Delaunay triangulation is commonly used for mesh…
Feature extraction is a critical technology to realize the automatic transmission of feature information throughout product life cycles. As CAD models primarily capture the 3D geometry of products, feature extraction heavily relies on…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
In this paper we investigate the colorful components framework, motivated by applications emerging from comparative genomics. The general goal is to remove a collection of edges from an undirected vertex-colored graph $G$ such that in the…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
Deep generative models have been applied with increasing success to the generation of two dimensional molecules as SMILES strings and molecular graphs. In this work we describe for the first time a deep generative model that can generate 3D…
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…
The creation of manufacturable and editable 3D shapes through Computer-Aided Design (CAD) remains a highly manual and time-consuming task, hampered by the complex topology of boundary representations of 3D solids and unintuitive design…
Assembly planning is a difficult problem for companies. Many disciplines such as design, planning, scheduling, and manufacturing execution need to be carefully engineered and coordinated to create successful product assembly plans. Recent…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
High read depth can be used to assemble short sequence repeats. The existing genome assemblers fail in repetitive regions of longer than average read. I propose a new algorithm for a DNA assembly which uses the relative frequency of reads…