Related papers: Every Mistake Counts in Assembly
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…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Model checking is an automatic formal verification technique that is widely used in hardware verification. The state-of-the-art complete model-checking techniques, based on IC3/PDR and its general variant CAR, are based on computing…
In this paper we present theory and algorithms enabling classes of Artificial Intelligence (AI) systems to continuously and incrementally improve with a-priori quantifiable guarantees - or more specifically remove classification errors -…
As generative AI becomes increasingly integrated into higher education, its frequent errors and hallucinations, often seen as limitations, offer a unique pedagogical opportunity. By framing AI as a ``learning companion'' whose imperfect…
As robotic systems execute increasingly difficult task sequences, so does the number of ways in which they can fail. Video Anomaly Detection (VAD) frameworks typically focus on singular, low-level kinematic or action failures, struggling to…
Many applications -- from planning and scheduling to problems in molecular biology -- rely heavily on a temporal reasoning component. In this paper, we discuss the design and empirical analysis of algorithms for a temporal reasoning system…
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…
Mature industrial sectors (e.g., aviation) collect their real world failures in incident databases to inform safety improvements. Intelligent systems currently cause real world harms without a collective memory of their failings. As a…
The subject of this paper is to study conformance checking for timed models, that is, process models that consider both the sequence of events in a process as well as the timestamps at which each event is recorded. Time-aware process mining…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
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…
Error detection in procedural activities is essential for consistent and correct outcomes in AR-assisted and robotic systems. Existing methods often focus on temporal ordering errors or rely on static prototypes to represent normal actions.…
The deployment of AI systems in safety-critical domains, such as industrial defect inspection, autonomous driving, and medical diagnosis, is severely hampered by their lack of reliability. A single undetected erroneous prediction can lead…
Today, AI is being increasingly used to help human experts make decisions in high-stakes scenarios. In these scenarios, full automation is often undesirable, not only due to the significance of the outcome, but also because human experts…
In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…
Assistive robots operating in household environments would require items to be available in the house to perform assistive tasks. However, when these items run out, the assistive robot must remind its user to buy the missing items. In this…
In this paper we address the task of recognizing assembly actions as a structure (e.g. a piece of furniture or a toy block tower) is built up from a set of primitive objects. Recognizing the full range of assembly actions requires…
As autonomous agents become increasingly sophisticated, validating their sequential behavior presents a significant challenge. Traditional testing approaches require manual specification, exact sequence matching, or thousands of training…
Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…