Related papers: BiAssemble: Learning Collaborative Affordance for …
We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
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…
Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…
Finding correspondences between 3D shapes is a crucial problem in computer vision and graphics, which is for example relevant for tasks like shape interpolation, pose transfer, or texture transfer. An often neglected but essential property…
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…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
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…
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…
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…
The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
The problem of mating two parts with low clearance remains difficult for autonomous robots. We present bi-level belief assembly (BILBA), a model-based planner that computes a sequence of compliant motions which can leverage contact with the…
The task of reassembly is a significant challenge across multiple domains, including archaeology, genomics, and molecular docking, requiring the precise placement and orientation of elements to reconstruct an original structure. In this…
Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…
This paper develops and evaluates a novel method that allows for the detection of affordances in a scalable and multiple-instance manner on visually recovered pointclouds. Our approach has many advantages over alternative methods, as it is…
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…
Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…