Related papers: BrickCraft: Visuomotor Skill Composition with Situ…

Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…

This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform 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…

Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…

We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…

Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…

Real-world tool-using agents operate over long-horizon workflows with recurring structure and diverse demands, where effective behavior requires not only invoking atomic tools but also abstracting, and reusing higher-level tool…

Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In this paper, we propose SkillsCrafter, a…

Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…

Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are difficult to learn because they involve both high-level…

There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…

Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…

We present a differentiable framework capable of learning a wide variety of compositions of simple policies that we call skills. By recursively composing skills with themselves, we can create hierarchies that display complex behavior. Skill…

Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in…

This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier…

Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…

This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement control under passive joint dynamics that…

Robotics tasks are highly compositional by nature. For example, to perform a high-level task like cleaning the table a robot must employ low-level capabilities of moving the effectors to the objects on the table, pick them up and then move…

We introduce a method to automatically compute LEGO Technic models from user input sketches, optionally with motion annotations. The generated models resemble the input sketches with coherently-connected bricks and simple layouts, while…

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…