Related papers: ASAP: Automated Sequence Planning for Complex Robo…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
From a set of technical drawings and expert knowledge, we automatically learn a parser to interpret such a drawing. This enables automatic reasoning and learning on top of a large database of technical drawings. In this work, we develop a…
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…
An assembly is a large population of neurons whose synchronous firing is hypothesized to represent a memory, concept, word, and other cognitive categories. Assemblies are believed to provide a bridge between high-level cognitive phenomena…
We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital…
The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…
The method of Arterial Spin Labeling (ASL) has experienced a significant rise in its application to functional imaging, since it is the only technique capable of measuring blood perfusion in a truly non-invasive manner. Currently, there are…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
Modern assembly processes require flexibility and adaptability to handle increasing product variety and customization. Traditional assembly planning methods often prioritize finding an optimal assembly sequence, overlooking the requirements…
We propose a method for generating rule sets as global and local explanations for tree-ensemble learning methods using Answer Set Programming (ASP). To this end, we adopt a decompositional approach where the split structures of the base…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets…
High-Entropy Materials are composed of multiple elements on comparatively simpler lattices. Due to the multicomponent nature of such materials, the atomic scale sampling is computationally expensive due to the combinatorial complexity. We…
Analog layout synthesis requires some elements in the circuit netlist to be matched and placed symmetrically. However, the set of symmetries is very circuit-specific and a versatile algorithm, applicable to a broad variety of circuits, has…