Related papers: ASAP: Automated Sequence Planning for Complex Robo…
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…
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…
The FRiM fractal operator belongs to a family of operators, called ASAP, defined by an ordered selection of nearest neighbors. This generalization provides means to improve upon the good properties of FRiM. We propose a fast algorithm to…
We describe a novel geometric methodology for analyzing free-energy and kinetics of assembly driven by short-range pair-potentials in an implicit solvent, and provides illustrations of its unique capabilities. An atlas is a labeled…
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…
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…
Accurate and interpretable motion planning is essential for autonomous vehicles (AVs) navigating complex and uncertain environments. While recent end-to-end occupancy prediction methods have improved environmental understanding, they…
Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…
To adhere to the stringent time and budget requirements of construction projects, contractors are utilizing prefabricated construction methods to expedite the construction process. Prefabricated construction methods require an adequate…
Planning is hard. The use of subgoals can make planning more tractable, but selecting these subgoals is computationally costly. What algorithms might enable us to reap the benefits of planning using subgoals while minimizing the…
Autonomous robots operating in dynamic environments must balance global path optimality with real-time responsiveness to disturbances. This requires addressing a fundamental trade-off between computationally expensive global planning and…
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
An Autonomous Physical System (APS) will be expected to reliably and independently evaluate, execute, and achieve goals while respecting surrounding rules, laws, or conventions. In doing so, an APS must rely on a broad spectrum of dynamic,…