Related papers: AssemblyBench: Physics-Aware Assembly of Complex I…
Recognizing errors in assembly and maintenance procedures is valuable for industrial applications, since it can increase worker efficiency and prevent unplanned down-time. Although assembly state recognition is gaining attention, none of…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…
Collecting 3D object datasets involves a large amount of manual work and is time consuming. Getting complete models of objects either requires a 3D scanner that covers all the surfaces of an object or one needs to rotate it to completely…
3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…
Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…
We describe our work on inferring the degrees of freedom between mated parts in mechanical assemblies using deep learning on CAD representations. We train our model using a large dataset of real-world mechanical assemblies consisting of CAD…
With the emergence of collaborative robots (cobots), human-robot collaboration in industrial manufacturing is coming into focus. For a cobot to act autonomously and as an assistant, it must understand human actions during assembly. To…
We present AssemblyHands, a large-scale benchmark dataset with accurate 3D hand pose annotations, to facilitate the study of egocentric activities with challenging hand-object interactions. The dataset includes synchronized egocentric and…
In medical and industrial domains, providing guidance for assembly processes can be critical to ensure efficiency and safety. Errors in assembly can lead to significant consequences such as extended surgery times and prolonged manufacturing…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Assistants on assembly tasks show great potential to benefit humans ranging from helping with everyday tasks to interacting in industrial settings. However, evaluation resources in assembly activities are underexplored. To foster system…
This paper introduces a vision-based framework for capturing and understanding human behavior in industrial assembly lines, focusing on car door manufacturing. The framework leverages advanced computer vision techniques to estimate workers'…
Interactable objects are ubiquitous in our daily lives. Recent advances in 3D generative models make it possible to automate the modeling of these objects, benefiting a range of applications from 3D printing to the creation of robot…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
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…
Visual segmentation has seen tremendous advancement recently with ready solutions for a wide variety of scene types, including human hands and other body parts. However, focus on segmentation of human hands while performing complex tasks,…
An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…