相关论文: Physics-Aware Combinatorial Assembly Sequence Plan…

A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

We introduce allostery-mimetic building blocks model for self-assembly of 3D structures. We represent the building blocks as patchy particles, where each binding site (patch) can be irreversibly activated or deactivated by binding of the…

Sequence-directed assembly processes - such as protein folding - allow the assembly of a large number of structures with high accuracy from only a small handful of fundamental building blocks. We aim to explore how efficiently sequence…

The design space for a self-assembled multicomponent objects ranges from a solution in which every building block is unique to one with the minimum number of distinct building blocks that unambiguously define the target structure. Using a…

An assembly is a large population of neurons whose synchronous firing is hypothesized to represent a memory, concept, word, and other cognitive categories. Assemblies are believed to provide a bridge between high-level cognitive phenomena…

We introduce a parallel offline algorithm for computing hybrid conditional plans, called HCP-ASP, oriented towards robotics applications. HCP-ASP relies on modeling actuation actions and sensing actions in an expressive nonmonotonic…

The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…

Executing open-ended natural language queries is a core problem in robotics. While recent advances in imitation learning and vision-language-actions models (VLAs) have enabled promising end-to-end policies, these models struggle when faced…

Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

Generalizable long-horizon robotic assembly requires reasoning at multiple levels of abstraction. While end-to-end imitation learning (IL) is a promising approach, it typically requires large amounts of expert demonstration data and often…

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…

Understanding assembly instruction has the potential to enhance the robot s task planning ability and enables advanced robotic applications. To recognize the key components from the 2D assembly instruction image, We mainly focus on…

The programming of robotic assembly tasks is a key component in manufacturing and automation. Force-sensitive assembly, however, often requires reactive strategies to handle slight changes in positioning and unforeseen part jamming.…

Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…

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…

The ability to control forces between sub-micron-scale building blocks offers considerable potential for designing new materials through self-assembly. A typical paradigm is to first identify a particular (crystal) structure that has some…

We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a…

Answer Set Programming (ASP) is a declarative programming language used for modeling and solving complex combinatorial problems. It has been successfully applied to a number of different realworld problems. However, learning its usage can…