相关论文: Chemistry Lab Automation via Constrained Task and …

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…

The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

A very active area of materials research is to devise methods that use machine learning to automatically extract predictive models from existing materials data. While prior examples have demonstrated successful models for some applications,…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…

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…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Automating experimental protocol design and execution remains as a fundamental bottleneck in realizing self-driving laboratories. We introduce PRISM (Protocol Refinement through Intelligent Simulation Modeling), a framework that automates…

To enable robots to achieve high level objectives, engineers typically write scripts that apply existing specialized skills, such as navigation, object detection and manipulation to achieve these goals. Writing good scripts is challenging…

Large language models (LLMs) have emerged as powerful tools in chemistry, significantly impacting molecule design, property prediction, and synthesis optimization. This review highlights LLM capabilities in these domains and their potential…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose…

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…

A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…

We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…