相关论文: AssembleRL: Learning to Assemble Furniture from Th…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
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…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…
Physical products are often complex assemblies combining a multitude of 3D parts modeled in computer-aided design (CAD) software. CAD designers build up these assemblies by aligning individual parts to one another using constraints called…
We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise,…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
In recent years, three-dimensional point clouds are used increasingly to document natural environments. Each dataset contains a diverse set of objects, at varying shapes and sizes, distributed throughout the data and intricately intertwined…
Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…
Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…
Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…
This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets…