Related papers: Assembly Planning by Recognizing a Graphical Instr…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In this paper, we report the results of our latest work on the automated generation of planning operators from human demonstrations, and we present some of our future research ideas. To automatically generate planning operators, our system…
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Automating garment assembly from sewing patterns remains a significant challenge due to the lack of standardized annotation protocols and the frequent absence of semantic cues. Existing methods often rely on panel labels or handcrafted…
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…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
We present a data-driven framework to automate the vectorization and machine interpretation of 2D engineering part drawings. In industrial settings, most manufacturing engineers still rely on manual reads to identify the topological and…
This paper aims to develop a framework that enables a robot to execute tasks based on visual information, in response to natural language instructions for Fetch-and-Carry with Object Grounding (FCOG) tasks. Although there have been many…
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…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Successful material selection is critical in designing and manufacturing products for design automation. Designers leverage their knowledge and experience to create high-quality designs by selecting the most appropriate materials through…
Understanding the intricate workflows of cataract surgery requires modeling complex interactions between surgical tools, anatomical structures, and procedural techniques. Existing datasets primarily address isolated aspects of surgical…
Guidance for assemblable parts is a promising field for augmented reality. Augmented reality assembly guidance requires 6D object poses of target objects in real time. Especially in time-critical medical or industrial settings, continuous…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…
We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…
The task of entity alignment between knowledge graphs (KGs) aims to identify every pair of entities from two different KGs that represent the same entity. Many machine learning-based methods have been proposed for this task. However, to our…
As assembly tasks grow in complexity, collaboration among multiple robots becomes essential for task completion. However, centralized task planning has become inadequate for adapting to the increasing intelligence and versatility of robots,…
Parametric Computer-Aided Design (CAD) of articulated assemblies is essential for product development, yet generating these multi-part, movable models from high-level descriptions remains unexplored. To address this, we propose ArtiCAD, the…