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Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…
Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…
A robot modeled as a deterministic finite automaton has to build a structure from material available to it. The robot navigates in the infinite oriented grid $\mathbb{Z} \times \mathbb{Z}$. Some cells of the grid are full (contain a brick)…
This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…
Robots hold significant promise to assist with providing care to an aging population and to help overcome increasing caregiver demands. Although a large body of research has explored robotic assistance for individuals with disabilities and…
We train a language model to generate LEGO-brick build sequences. While prior work has been restricted to discrete, voxel-like towers, we consider a much broader set of pieces, encompassing thousands of part types with diverse connection…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
This paper describes a building blocks approach to the design of scientific workflow systems. We discuss RADICAL-Cybertools as one implementation of the building blocks concept, showing how they are designed and developed in accordance with…
Machine learning has enabled significant benefits in diverse fields, but, with a few exceptions, has had limited impact on computer architecture. Recent work, however, has explored broader applicability for design, optimization, and…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…
Automated builds are integral to the Continuous Integration (CI) software development practice. In CI, developers are encouraged to integrate early and often. However, long build times can be an issue when integrations are frequent. This…
We give a construction in a column of a one-dimensional cellular automaton of the Minkowski sum of two sets which can themselves occur in columns of cellular automata. It enables us to obtain another construction of the set of integers that…