Related papers: Subassembly to Full Assembly: Effective Assembly S…
This paper investigates the problem of active learning for binary label prediction on a graph. We introduce a simple and label-efficient algorithm called S2 for this task. At each step, S2 selects the vertex to be labeled based on the…
In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional…
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…
Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…
Conventional video summarization approaches based on reinforcement learning have the problem that the reward can only be received after the whole summary is generated. Such kind of reward is sparse and it makes reinforcement learning hard…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…
Parameter-efficient transfer learning (PETL) aims to reduce the scales of pretrained models for multiple downstream tasks. However, as the models keep scaling up, the memory footprint of existing PETL methods is not significantly reduced…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…
Robotic assembly in architectural construction faces a persistent bottleneck: existing planners are either highly specialized, requiring prohibitive retraining for every new geometric design, or operationally inefficient, treating…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
We investigate the integration of a planning mechanism into sequence-to-sequence models using attention. We develop a model which can plan ahead in the future when it computes its alignments between input and output sequences, constructing…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Job scheduling is widely used in real-world manufacturing systems to assign ordered job operations to machines under various constraints. Existing solutions remain limited by long running time or insufficient schedule quality, especially…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…