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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…
Large language models (LLMs) have enabled the automatic generation of step-by-step augmented reality (AR) instructions for a wide range of physical tasks. However, existing LLM-based AR guidance often lacks rich visual augmentations to…
Functional programming languages are seen by many as instrumental to effectively utilizing the computational power of multi-core platforms. As a result, there is growing interest to introduce functional programming and functional thinking…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
The recent advancements introduced by Large Language Models (LLMs) have transformed how Artificial Intelligence (AI) can support complex, real world tasks, pushing research outside the text boundaries towards multi modal contexts and…
Older adults have increasing difficulty with retrospective memory, hindering their abilities to perform daily activities and posing stress on caregivers to ensure their wellbeing. Recent developments in Artificial Intelligence (AI) and…
Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
3D printers enable end-users to design and fabricate unique physical artifacts but maintain an increased entry barrier and friction. End users must design tangible artifacts through intangible media away from the main problem space…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
Virtual Reality (VR) has emerged as a powerful tool for workforce training, offering immersive, interactive, and risk-free environments that enhance skill acquisition, decision-making, and confidence. Despite its advantages, developing VR…
Although LEGO sets have entertained generations of children and adults, the challenge of designing customized builds matching the complexity of real-world or imagined scenes remains too great for the average enthusiast. In order to make…
Understanding assembly instruction has the potential to enhance the robot s task planning ability and enables advanced robotic applications. To recognize the key components from the 2D assembly instruction image, We mainly focus on…
Visual understanding of geometric structures with complex spatial relationships is a fundamental component of human intelligence. As children, we learn how to reason about structure not only from observation, but also by interacting with…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…
Block-building activities are crucial for developing children's spatial reasoning and mathematical skills, yet parents often lack the expertise to guide these activities effectively. BrickSmart, a pioneering system, addresses this gap by…
We present a system that transforms speech into physical objects using 3D generative AI and discrete robotic assembly. By leveraging natural language, the system makes design and manufacturing more accessible to people without expertise in…
We present BricksRL, a platform designed to democratize access to robotics for reinforcement learning research and education. BricksRL facilitates the creation, design, and training of custom LEGO robots in the real world by interfacing…
Assembly sequence planning (ASP) is the essential process for modern manufacturing, proven to be NP-complete thus its effective and efficient solution has been a challenge for researchers in the field. In this paper, we present a…