相关论文: Blox-Net: Generative Design-for-Robot-Assembly Usi…

We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…

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…

Aggregation is a fundamental behavior for swarm robotics that requires a system to gather together in a compact, connected cluster. In 2014, Gauci et al. proposed a surprising algorithm that reliably achieves swarm aggregation using only a…

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…

3D-aware generative models have shown that the introduction of 3D information can lead to more controllable image generation. In particular, the current state-of-the-art model GIRAFFE can control each object's rotation, translation, scale,…

Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…

In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…

The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…

Foundation models, such as Large Language Models (LLMs) or Large Vision Models (LVMs), have emerged as one of the most powerful tools in the respective fields. However, unlike text and image data, graph data do not have a definitive…

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant…

Convolutional neural networks have gained a remarkable success in computer vision. However, most usable network architectures are hand-crafted and usually require expertise and elaborate design. In this paper, we provide a block-wise…

Multi-focus image fusion aims to generate an all-in-focus image from a sequence of partially focused input images. Existing fusion algorithms generally assume that, for every spatial location in the scene, there is at least one input image…

It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore,…

As artificial intelligence (AI) continues to evolve from a back-end computational tool into an interactive, generative collaborator, its integration into early-stage design processes demands a rethinking of traditional workflows in…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Simulation-based optimization is a useful method for practical design problems. However, it is difficult for complicated problems due to expensive-computational costs. A popular way to overcome this issue is to use a surrogate model to save…

The integration of generative AI into developer forums like Stack Overflow presents an opportunity to enhance problem-solving by allowing users to post screenshots of code or Integrated Development Environments (IDEs) instead of traditional…

Generative AI has made rapid progress in text, image, and video synthesis, yet text-to-3D modeling for scientific design remains particularly challenging due to limited controllability and high computational cost. Most existing 3D…

Binary code analysis is the foundation of crucial tasks in the security domain; thus building effective binary analysis techniques is more important than ever. Large language models (LLMs) although have brought impressive improvement to…