Related papers: ASAP: Automated Sequence Planning for Complex Robo…
While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in…
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…
To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with added stochastic noise to yield robustness scores--the…
In our daily lives and industrial settings, we often encounter dynamic problems that require reasoning over time and metric constraints. These include tasks such as scheduling, routing, and production sequencing. Dynamic logics have…
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.…
Optimizing large-language model (LLM) training on distributed domain-specific accelerator systems presents significant challenges due to its complex optimization space. Existing optimization methods, however, rely on time-consuming manual…
We introduce the Adaptive Skills, Adaptive Partitions (ASAP) framework that (1) learns skills (i.e., temporally extended actions or options) as well as (2) where to apply them. We believe that both (1) and (2) are necessary for a truly…
We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…
The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore…
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…
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…
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…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
In a co-design environment changes need to be integrated quickly and in an automated manner. This paper considers the challenge of creating and optimizing a global logistics system for the construction of a passenger aircraft within a…
Product disassembly is a labor-intensive process and is far from being automated. Typically, disassembly is not robust enough to handle product varieties from different shapes, models, and physical uncertainties due to component…
We introduce the Hierarchical Seating Allocation Problem (HSAP) which addresses the optimal assignment of hierarchically structured organizational teams to physical seating arrangements on a floor plan. This problem is driven by the…