Related papers: RAMP: A Benchmark for Evaluating Robotic Assembly …
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark…
This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target…
Physical feasibility in 3D bin packing is a key requirement in modern industrial logistics and robotic automation. With the growing adoption of industrial automation, online bin packing has gained increasing attention. However,…
We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Human-robot interactions can change significantly depending on how autonomous humans perceive a robot to be. Yet, while previous work in the HRI community measured perceptions of human autonomy, there is little work on measuring perceptions…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent works start to use portable data collection devices without…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…
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…
A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…
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…