Related papers: Planning Assembly Sequence with Graph Transformer
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
In this paper, we present ASPEN, an answer set programming (ASP) implementation of a recently proposed declarative framework for collective entity resolution (ER). While an ASP encoding had been previously suggested, several practical…
3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in…
Answer set programming (ASP) aims to realize the AI vision: The user specifies the problem, and the computer solves it. Indeed, ASP has made this vision true in many application domains. However, will current ASP solving techniques scale up…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
We tackle the problem of automatically designing concurrent data structure operations given a sequential data structure specification and knowledge about concurrent behavior. Designing concurrent code is a non-trivial task even in simplest…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
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…
In this paper we tackle the problem of automatically designing concurrent data structure operations given a sequential data structure specification and knowledge about concurrent behavior. Designing concurrent code is a non-trivial task…
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…
Sequence parallelism (SP) serves as a prevalent strategy to handle long sequences that exceed the memory limit of a single device. However, for linear sequence modeling methods like linear attention, existing SP approaches do not take…
Graphs are a highly expressive data structure, but it is often difficult for humans to find patterns from a complex graph. Hence, generating human-interpretable sequences from graphs have gained interest, called graph2seq learning. It is…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
We propose an end-to-end approach for Answer Set Programming (ASP) and linear algebraically compute stable models satisfying given constraints. The idea is to implement Lin-Zhao's theorem together with constraints directly in vector spaces…
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled…
Semi-supervised node classification is a foundational task in graph machine learning, yet state-of-the-art Graph Neural Networks (GNNs) are hindered by significant computational overhead and reliance on strong homophily assumptions.…
The Power grid is a critical infrastructure underpinning all aspects of modern society and its services. Maintaining its effectiveness requires continuous adaptations. In particular, addressing sustainability targets, demand patterns, and…
Answer Set Programming (ASP) is a well-known declarative formalism in logic programming. Efficient implementations made it possible to apply ASP in many scenarios, ranging from deductive databases applications to the solution of hard…
In many machine learning tasks, models are trained to predict structure data such as graphs. For example, in natural language processing, it is very common to parse texts into dependency trees or abstract meaning representation (AMR)…