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Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…
We present an on-the-fly synthesis framework for Linear Temporal Logic over finite traces (LTLf) based on top-down deterministic automata construction. Existing approaches rely on constructing a complete Deterministic Finite Automaton (DFA)…
Translating high-level linguistic instructions into precise robotic actions in the physical world remains challenging, particularly when considering the feasibility of interacting with 3D objects. In this paper, we introduce 3D-TAFS, a…
Humans form mental images of 3D scenes to support counterfactual imagination, planning, and motor control. Our abilities to predict the appearance and affordance of the scene from previously unobserved viewpoints aid us in performing…
An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under…
Feature selection is a crucial step in large-scale industrial machine learning systems, directly affecting model accuracy, efficiency, and maintainability. Traditional feature selection methods rely on labeled data and statistical…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
The current verification flow of complex systems uses different engines synergistically: virtual prototyping, formal verification, simulation, emulation and FPGA prototyping. However, none is able to verify a complete architecture.…
Modular product architectures are used to enhance flexibility, reduce production complexity, and support sustainability goals. However, traditional Modular Function Deployment (MFD) method does not fully integrate Design for Assembly (DFA)…
We study the problem of balancing effectiveness and efficiency in automated feature selection. After exploring many feature selection methods, we observe a computational dilemma: 1) traditional feature selection is mostly efficient, but…
One of today's goals for industrial robot systems is to allow fast and easy provisioning for new tasks. Skill-based systems that use planning and knowledge representation have long been one possible answer to this. However, especially with…