Related papers: Planning Assembly Sequence with Graph Transformer
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…
We study the problem of translating an image-based, step-by-step assembly manual created by human designers into machine-interpretable instructions. We formulate this problem as a sequential prediction task: at each step, our model reads…
Scene graph representations, which form a graph of visual object nodes together with their attributes and relations, have proved useful across a variety of vision and language applications. Recent work in the area has used Natural Language…
The tolerancing process links the virtual and the real worlds. From the former, tolerances define a variational geometrical language (geometric parameters). From the latter, there are values limiting those parameters. The beginning of a…
This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The…
Self-stabilizing algorithms are an important because of their robustness and guaranteed convergence. Starting from any arbitrary state, a self-stabilizing algorithm is guaranteed to converge to a legitimate state.Those algorithms are not…
As opposed to natural languages, source code understanding is influenced by grammatical relationships between tokens regardless of their identifier name. Graph representations of source code such as Abstract Syntax Tree (AST) can capture…
A foundation model like GPT elicits many emergent abilities, owing to the pre-training with broad inclusion of data and the use of the powerful Transformer architecture. While foundation models in natural languages are prevalent, can we…
The formation trajectory planning using complete graphs to model collaborative constraints becomes computationally intractable as the number of drones increases due to the curse of dimensionality. To tackle this issue, this paper presents a…
Emerging workloads, such as graph processing and machine learning are approximate because of the scale of data involved and the stochastic nature of the underlying algorithms. These algorithms are often distributed over multiple machines…
Graph shotgun assembly refers to the problem of reconstructing a graph from a collection of local neighborhoods. In this paper, we consider shotgun assembly of \ER random graphs $G(n, p_n)$, where $p_n = n^{-\alpha}$ for $0 < \alpha < 1$.…
Answer Set Programming (ASP) is a purely declarative formalism developed in the field of logic programming and nonmonotonic reasoning: computational problems are encoded by logic programs whose answer sets, corresponding to solutions, are…
Answer Set Planning refers to the use of Answer Set Programming (ASP) to compute plans, i.e., solutions to planning problems, that transform a given state of the world to another state. The development of efficient and scalable answer set…
We introduce SPAFormer, an innovative model designed to overcome the combinatorial explosion challenge in the 3D Part Assembly (3D-PA) task. This task requires accurate prediction of each part's poses in sequential steps. As the number of…
Assembly theory has received considerable attention in the recent past. Here we analyze the formal framework of this model and show that assembly pathways coincide with certain minimal hyperpaths in B-hypergraphs. This makes it possible to…
Recently, many graph matching methods that incorporate pairwise constraint and that can be formulated as a quadratic assignment problem (QAP) have been proposed. Although these methods demonstrate promising results for the graph matching…
The problem of code generation from textual program descriptions has long been viewed as a grand challenge in software engineering. In recent years, many deep learning based approaches have been proposed, which can generate a sequence of…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…