Related papers: Visual scoping operations for physical assembly
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
Solving complex planning problems has been a long-standing challenge in computer science. Learning-based subgoal search methods have shown promise in tackling these problems, but they often suffer from a lack of completeness guarantees,…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
Vision language models (VLMs) are an exciting emerging class of language models (LMs) that have merged classic LM capabilities with those of image processing systems. However, the ways that these capabilities combine are not always…
Recognition and reasoning are two pillars of visual understanding. However, these tasks have an imbalance in focus; whereas recent advances in neural networks have shown strong empirical performance in visual recognition, there has been…
One of the most useful techniques to help visual data analysis systems is interactive filtering (brushing). However, visualization techniques often suffer from overlap of graphical items and multiple attributes complexity, making visual…
We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…
An important new trend in additive manufacturing is the use of optimization to automatically design industrial objects, such as beams, rudders or wings. Topology optimization, as it is often called, computes the best configuration of…
Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails grounding plans and concepts in one or more modalities in order to…
It is common to view programs as a combination of logic and control: the logic part defines what the program must do, the control part -- how to do it. The Logic Programming paradigm was developed with the intention of separating the logic…
Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…
Task and Motion Planning combines high-level task sequencing (what to do) with low-level motion planning (how to do it) to generate feasible, collision-free execution plans. However, in many real-world domains, such as automated warehouses,…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
View materialization, index selection, and plan caching are well-known techniques for optimization of query processing in database systems. The essence of these tasks is to select and save a subset of the most useful candidates…
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…