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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…
Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper investigates safe and…
Large language models (LLMs) are deployed on increasingly complex tasks that require multi-step decision-making. Understanding their algorithmic reasoning abilities is therefore crucial. However, we lack a diagnostic benchmark for…
We discuss the problem of counting certain LEGO structures, primarily those comprising parallel $w \times 1$ tiles. These can be combined, as a single LEGO structure, by interlocking the tiles. %Alternatively, if the interlocking condition…
Engineering construction automation aims to transform natural language specifications into physically viable structures, requiring complex integrated reasoning under strict physical constraints. While modern LLMs possess broad knowledge and…
The advances in 3D reconstruction technology, such as photogrammetry and LiDAR scanning, have made it easier to reconstruct accurate and detailed 3D models for urban scenes. Nevertheless, these reconstructed models often contain a large…
Despite recent progress in using Large Language Models (LLMs) for automatically generating 3D scenes, generated scenes often lack realistic spatial layouts and object attributes found in real-world environments. As this problem stems from…
Objects are made of parts, each with distinct geometry, physics, functionality, and affordances. Developing such a distributed, physical, interpretable representation of objects will facilitate intelligent agents to better explore and…
Understanding 2D cross-sections of 3D structures is a crucial skill in many disciplines, from geology to medical imaging. Cross-section inference in the context of 3D structures requires a complex set of spatial/visualization skills…
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
In this paper, we augment existing techniques for simulating flexible objects to include models for crack initiation and propagation in three-dimensional volumes. By analyzing the stress tensors computed over a finite element model, the…
Existing LLM-based EDA agents are often isolated task-specific systems. This leads to repeated engineering effort and limited reuse of successful design and debugging strategies. We present LEGO, a unified skill-based platform for front-end…
Although there are several systems that successfully generate construction steps for ruler and compass construction problems, none of them provides readable synthetic correctness proofs for generated constructions. In the present work, we…
Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…
Manipulating matter with a scanning tunneling microscope (STM) enables creation of atomically defined artificial structures that host designer quantum states. However, the time-consuming nature of the manipulation process, coupled with the…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
Integrating image generation and understanding into a single framework has become a pivotal goal in the multimodal domain. However, how understanding can effectively assist generation has not been fully explored. Unlike previous works that…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…