相关论文: Robot-Enabled Construction Assembly with Automated…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
Long-term life task planning is inherently complex and uncertain, yet little is known about how emerging AI systems support this process. This study investigates how people use ChatGPT for such planning tasks, focusing on user practices,…
Designing a universal policy architecture that performs well across diverse robots and task configurations remains a key challenge. In this work, we address this by representing robot actions as sequential data and generating actions…
This technical paper introduces a chatting robot system that utilizes recent advancements in large-scale language models (LLMs) such as GPT-3 and ChatGPT. The system is integrated with a co-speech gesture generation system, which selects…
By organizing knowledge within a research field, Systematic Reviews (SR) provide valuable leads to steer research. Evidence suggests that SRs have become first-class artifacts in software engineering. However, the tedious manual effort…
Compared to a single-robot workstation, a multi-robot system offers several advantages: 1) it expands the system's workspace, 2) improves task efficiency, and, more importantly, 3) enables robots to achieve significantly more complex and…
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…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
Multi-modal large language models are regarded as a crucial step towards Artificial General Intelligence (AGI) and have garnered significant interest with the emergence of ChatGPT. However, current speech-language models typically adopt the…
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such…
The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine…
Scientific workflow systems are increasingly popular for expressing and executing complex data analysis pipelines over large datasets, as they offer reproducibility, dependability, and scalability of analyses by automatic parallelization on…
Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
In this study we argue that integrating ChatGPT into the data processing pipeline of automated sensors in precision agriculture has the potential to bring several benefits and enhance various aspects of modern farming practices. Policy…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…
We introduce BrickGPT, the first approach for generating physically stable interconnecting brick assembly models from text prompts. To achieve this, we construct a large-scale, physically stable dataset of brick structures, along with their…