Related papers: BrickCraft: Visuomotor Skill Composition with Situ…
Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Generating physically buildable brick structures from 3D shapes requires more than geometric reconstruction: the output must also satisfy discrete part constraints and structural stability. Existing brick generation methods either rely on…
Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
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…
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
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…
Assembly planning is a difficult problem for companies. Many disciplines such as design, planning, scheduling, and manufacturing execution need to be carefully engineered and coordinated to create successful product assembly plans. Recent…
In this work, we present a robotic solution to automate the task of wall construction. To that end, we present an end-to-end visual perception framework that can quickly detect and localize bricks in a clutter. Further, we present a light…
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…
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…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
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…
Creating assembly products demands significant manual effort and expert knowledge in 1) designing the assembly and 2) constructing the product. This paper introduces Prompt-to-Product, an automated pipeline that generates real-world…
Planning long-horizon manipulation motions using a set of predefined skills is a central challenge in robotics; solving it efficiently could enable general-purpose robots to tackle novel tasks by flexibly composing generic skills. Solutions…
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…
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…
Learning a control policy for a multi-phase, long-horizon task, such as basketball maneuvers, remains challenging for reinforcement learning approaches due to the need for seamless policy composition and transitions between skills. A…