相关论文: Physics-Aware Combinatorial Assembly Sequence Plan…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
We present an innovative approach to the synthesis of linear arrays having the least possible number of elements while radiating shaped beams lying in completely arbitrary power masks. The approach, based on theory and procedures lend from…
Forecasting 3D human motion is an important embodiment of fine-grained understanding and cognition of human behavior by artificial agents. Current approaches excessively rely on implicit network modeling of spatiotemporal relationships and…
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
Thanks to a constant energy input, active matter can self-assemble into phases with complex architectures and functionalities such as living clusters that dynamically form, reshape and break-up, which are forbidden in equilibrium materials…
The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…
Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap…
Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…
We propose a method for generating explainable rule sets from tree-ensemble learners using Answer Set Programming (ASP). To this end, we adopt a decompositional approach where the split structures of the base decision trees are exploited in…
The Numerical Assembly Technique is extended to investigate arbitrary planar frame structures with the focus on the computation of natural frequencies. This allows us to obtain highly accurate results without resorting to spatial…
Federated learning encounters substantial challenges with heterogeneous data, leading to performance degradation and convergence issues. While considerable progress has been achieved in mitigating such an impact, the reliability aspect of…
Humans perceive the seemingly chaotic world in a structured and compositional way with the prerequisite of being able to segregate conceptual entities from the complex visual scenes. The mechanism of grouping basic visual elements of scenes…
We train a language model to generate LEGO-brick build sequences. While prior work has been restricted to discrete, voxel-like towers, we consider a much broader set of pieces, encompassing thousands of part types with diverse connection…
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…
3D generative AI enables rapid and accessible creation of 3D models from text or image inputs. However, translating these outputs into physical objects remains a challenge due to the constraints in the physical world. Recent studies have…
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects and the final state of the assembly to generate all possible…
In medical and industrial domains, providing guidance for assembly processes can be critical to ensure efficiency and safety. Errors in assembly can lead to significant consequences such as extended surgery times and prolonged manufacturing…
The next generation of advanced materials is tending toward increasingly complex compositions. Synthesizing precise composition is time-consuming and becomes exponentially demanding with increasing compositional complexity. An experienced…
Recent advancements in learning-based methods have opened new avenues for exploring and interpreting art forms, such as shadow art, origami, and sketch art, through computational models. One notable visual art form is 3D Anamorphic Art in…