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Generative AI systems have shown impressive capabilities in creating text, code, and images. Inspired by the rich history of research in industrial ''Design for Assembly'', we introduce a novel problem: Generative Design-for-Robot-Assembly…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
Design for Manufacturing and Assembly (DFMA) is a crucial design stage within the heavy vehicle manufacturing process that involves optimising the order and feasibility of the parts assembly process to reduce manufacturing complexity and…
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…
Automatic assembly has broad applications in industries. Traditional assembly tasks utilize predefined trajectories or tuned force control parameters, which make the automatic assembly time-consuming, difficult to generalize, and not robust…
Large language models (LLMs) have demonstrated immense potential in computer-aided design (CAD), particularly for automated debugging and verification within electronic design automation (EDA) tools. However, Design for Testability (DFT)…
Modular product design has become a strategic enabler for companies seeking to balance product variety, operational efficiency, and market responsiveness, making the alignment between modular architecture and manufacturing considerations…
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…
This study investigates the barriers to integrating Design for Assembly (DFA) principles within modular product architectures established using the Modular Function Deployment (MFD) method -- a critical stage for deploying mass…
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that…
Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…
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…
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…
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO prototyping, which is devoted to…
Innovative Electronic Design Automation (EDA) solutions are important to meet the design requirements for increasingly complex electronic devices. Verilog, a hardware description language, is widely used for the design and verification of…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Conditional Flow Matching (CFM) models can generate high-quality samples from a non-informative prior, but they can be slow, often needing hundreds of network evaluations (NFE). To address this, we propose Implicit Dynamical Flow Fusion…
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…