相关论文: Blox-Net: Generative Design-for-Robot-Assembly Usi…
Recent breakthroughs in the field of language-guided image generation have yielded impressive achievements, enabling the creation of high-quality and diverse images based on user instructions.Although the synthesis performance is…
Large pre-trained models exhibit distinct and complementary capabilities dependent on the data they are trained on. Language models such as GPT-3 are capable of textual reasoning but cannot understand visual information, while vision models…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…
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…
With this work, we investigate the use of Reinforcement Learning (RL) for the generation of spatial assemblies, by combining ideas from Procedural Generation algorithms (Wave Function Collapse algorithm (WFC)) and RL for Game Solving. WFC…
Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly process through natural language interaction with humans.…
Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
We performed a billion locality sensitive hash comparisons between artificially generated data samples to answer the critical question - can we reproduce the results of generative AI models? Reproducibility is one of the pillars of…
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO prototyping, which is devoted to…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
Metal-organic frameworks (MOFs) exhibit great promise for CO2 capture. However, finding the best performing materials poses computational and experimental grand challenges in view of the vast chemical space of potential building blocks.…
With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential…
Soft robotics has emerged as a promising field with the potential to revolutionize industries such as healthcare and manufacturing. However, designing effective soft robots presents challenges, particularly in managing the complex interplay…
Reassembly tasks play a fundamental role in many fields and multiple approaches exist to solve specific reassembly problems. In this context, we posit that a general unified model can effectively address them all, irrespective of the input…
Programming social robots is challenging for novice robot programmers due to required expertise in planning, interaction design, and programming. While large language models (LLMs) hold significant promise through code generation from…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…