相关论文: AutoMate: A Dataset and Learning Approach for Auto…

The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…

Ensuring that predicted probabilities align with observed frequencies is critical in high-stakes domains such as clinical decision support, autonomous driving and financial risk assessment. Existing calibration methods typically apply a…

Dataset condensation aims at reducing the network training effort through condensing a cumbersome training set into a compact synthetic one. State-of-the-art approaches largely rely on learning the synthetic data by matching the gradients…

We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…

Radars and cameras are mature, cost-effective, and robust sensors and have been widely used in the perception stack of mass-produced autonomous driving systems. Due to their complementary properties, outputs from radar detection (radar…

For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

An increasing number of emerging applications, e.g., internet of things, vehicular communications, augmented reality, and the growing complexity due to the interoperability requirements of these systems, lead to the need to change the tools…

Quality control of assembly processes is essential in manufacturing to ensure not only the quality of individual components but also their proper integration into the final product. To assist in this matter, automated assembly control using…

The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

We introduce CAPRI-Net, a neural network for learning compact and interpretable implicit representations of 3D computer-aided design (CAD) models, in the form of adaptive primitive assemblies. Our network takes an input 3D shape that can be…

Constructing computer-aided design (CAD) models is labor-intensive but essential for engineering and manufacturing. Recent advances in Large Language Models (LLMs) have inspired the LLM-based CAD generation by representing CAD as command…

Dedicated hardware accelerators are suitable for parallel computational tasks. Moreover, they have the tendency to accept inexact results. These hardware accelerators are extensively used in image processing and computer vision…

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…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

The process of calibrating computer models of natural phenomena is essential for applications in the physical sciences, where plenty of domain knowledge can be embedded into simulations and then calibrated against real observations. Current…

Recently, there has been a growing interest in applying machine learning methods to problems in engineering mechanics. In particular, there has been significant interest in applying deep learning techniques to predicting the mechanical…

Recently, there has been the development of Split Learning, a framework for distributed computation where model components are split between the client and server (Vepakomma et al., 2018b). As Split Learning scales to include many different…