Related papers: AssemblyBench: Physics-Aware Assembly of Complex I…
As robots become more generalized and deployed in diverse environments, they must interact with complex objects, many with multiple independent joints or degrees of freedom (DoF) requiring precise control. A common strategy is object…
We introduce IndustryShapes, a new RGB-D benchmark dataset of industrial tools and components, designed for both instance-level and novel object 6D pose estimation approaches. The dataset provides a realistic and application-relevant…
Learning multimodal representations involves integrating information from multiple heterogeneous sources of data. In order to accelerate progress towards understudied modalities and tasks while ensuring real-world robustness, we release…
QUB-PHEO introduces a visual-based, dyadic dataset with the potential of advancing human-robot interaction (HRI) research in assembly operations and intention inference. This dataset captures rich multimodal interactions between two…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
Calibration of dynamic models to data is an important step in building building digital twins of HVAC equipment, thermal loads and control systems. Sometimes, when a model fails to calibrate to data, a possible cause is that the model has…
In the context of Industry 4.0, effective monitoring of multiple targets and states during assembly processes is crucial, particularly when constrained to using only visual sensors. Traditional methods often rely on either multiple sensor…
Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been…
This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves…
Assembly modeling is a core task of computer aided design (CAD), comprising around one third of the work in a CAD workflow. Optimizing this process therefore represents a huge opportunity in the design of a CAD system, but current research…
Numerous advancements in deep learning can be attributed to the access to large-scale and well-annotated datasets. However, such a dataset is prohibitively expensive in 3D computer vision due to the substantial collection cost. To alleviate…
Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
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…
Learning multimodal representations involves integrating information from multiple heterogeneous sources of data. It is a challenging yet crucial area with numerous real-world applications in multimedia, affective computing, robotics,…
In recent years, we have seen an emergence of data-driven approaches in robotics. However, most existing efforts and datasets are either in simulation or focus on a single task in isolation such as grasping, pushing or poking. In order to…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
This paper proposes a new concept in which a digital twin derived from a digital product description will automatically perform assembly planning and orchestrate the production resources in a manufacturing cell. Thus the manufacturing cell…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Inferring step-wise actions to assemble 3D objects with primitive bricks from images is a challenging task due to complex constraints and the vast number of possible combinations. Recent studies have demonstrated promising results on…