相关论文: Tool Macgyvering: Tool Construction Using Geometri…

Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

The aim of this paper is to promote the terms thing and thinging (which refers to the act of defining a boundary around some portion of reality and labeling it with a name) as valued notions that play an important role in software…

Humans possess an extraordinary ability to create and utilize tools, allowing them to overcome physical limitations and explore new frontiers. With the advent of foundation models, AI systems have the potential to be equally adept in tool…

Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to…

When executing a certain task, human beings can choose or make an appropriate tool to achieve the task. This research especially addresses the optimization of tool shape for robotic tool-use. We propose a method in which a robot obtains an…

Procedural Content Generation via Machine Learning (PCGML) refers to a group of methods for creating game content (e.g. platformer levels, game maps, etc.) using machine learning models. PCGML approaches rely on black box models, which can…

Can machines design? Can they come up with creative solutions to problems and build tools and artifacts across a wide range of domains? Recent advances in the field of computational creativity and formal Artificial General Intelligence…

As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly…

An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by…

Abstract Visual Reasoning (AVR) problems are commonly used to approximate human intelligence. They test the ability of applying previously gained knowledge, experience and skills in a completely new setting, which makes them particularly…

In recent years generative design techniques have become firmly established in numerous applied fields, especially in engineering. These methods are demonstrating intensive growth owing to promising outlook. However, existing approaches are…

Machine learning is the capacity of a computational system to learn structures from datasets in order to make predictions on newly seen data. Such an approach offers a significant advantage in music scenarios in which musicians can teach…

Visual understanding of geometric structures with complex spatial relationships is a fundamental component of human intelligence. As children, we learn how to reason about structure not only from observation, but also by interacting with…

Despite the excessive developments of architectural parametric platforms, parametric design is often interpreted as an architectural style rather than a computational method. Also, the problem is still a lack of knowledge and skill about…

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…

While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…