Related papers: Planning Assembly Sequence with Graph Transformer
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the…
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…
Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such…
This paper presents PyCAALP (Python-based Computer-Aided Assembly Line Planning), a framework for automated Assembly Sequence Planning (ASP) and Production Line Planning (PLP), employing a graph-based approach to model components and joints…
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…
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which is limited to target segmentation, pose regression, or…
Inferring step-wise actions to assemble 3D objects with primitive bricks from images is a challenging task due to complex constraints and the vast number of possible combinations. Recent studies have demonstrated promising results on…
Answer set programming (ASP) is a popular nonmonotonic-logic based paradigm for knowledge representation and solving combinatorial problems. Computing the answer set of an ASP program is NP-hard in general, and researchers have been…
This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…
Answer set programming (ASP) is a popular nonmonotonic-logic based paradigm for knowledge representation and solving combinatorial problems. Computing the answer set of an ASP program is NP-hard in general, and researchers have been…
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…
Answer Set Programming (ASP) is a well-known problem-solving formalism in computational logic. Nowadays, ASP is used in many real world scenarios thanks to ASP solvers. Standard evaluation of ASP programs suffers from an intrinsic…
We propose a synthetic reasoning task, LEGO (Learning Equality and Group Operations), that encapsulates the problem of following a chain of reasoning, and we study how the Transformer architectures learn this task. We pay special attention…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore…
Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…
Detecting small sets of relevant patterns from a given dataset is a central challenge in data mining. The relevance of a pattern is based on user-provided criteria; typically, all patterns that satisfy certain criteria are considered…
This article presents the use of Answer Set Programming (ASP) to mine sequential patterns. ASP is a high-level declarative logic programming paradigm for high level encoding combinatorial and optimization problem solving as well as…
Autonomous agents powered by large language models (LLMs) have shown impressive capabilities in tool manipulation for complex task-solving. However, existing paradigms such as ReAct rely on sequential reasoning and execution, failing to…
Graph Neural Networks (GNN) have been shown to work effectively for modeling graph structured data to solve tasks such as node classification, link prediction and graph classification. There has been some recent progress in defining the…