相关论文: Assembly Planning by Recognizing a Graphical Instr…
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…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Instructions for Build, Assembly, and Test (IBAT) refers to the process used whenever any operation is conducted on hardware, including tests, assembly, and maintenance. Currently, the generation of IBAT documents is time-intensive, as…
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…
From a set of technical drawings and expert knowledge, we automatically learn a parser to interpret such a drawing. This enables automatic reasoning and learning on top of a large database of technical drawings. In this work, we develop a…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
The objective of this work is to manipulate visual timelines (e.g. a video) through natural language instructions, making complex timeline editing tasks accessible to non-expert or potentially even disabled users. We call this task…
In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a…
In recent years, the advancement of AI technologies has accelerated the development of smart factories. In particular, the automatic monitoring of product assembly progress is crucial for improving operational efficiency, minimizing the…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…
Assembly planning is a difficult problem for companies. Many disciplines such as design, planning, scheduling, and manufacturing execution need to be carefully engineered and coordinated to create successful product assembly plans. Recent…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Training a generalizable 3D part segmentation network is quite challenging but of great importance in real-world applications. To tackle this problem, some works design task-specific solutions by translating human understanding of the task…
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…
We present an AI-assisted Augmented Reality assembly workflow that uses deep learning-based object recognition to identify different assembly components and display step-by-step instructions. For each assembly step, the system displays a…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
Automated assembly of 3D fractures is essential in orthopedics, archaeology, and our daily life. This paper presents Jigsaw, a novel framework for assembling physically broken 3D objects from multiple pieces. Our approach leverages…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…