相关论文: Blox-Net: Generative Design-for-Robot-Assembly Usi…
We propose a new, training-free method, Graph Reasoning via Retrieval Augmented Framework (GRRAF), that harnesses retrieval-augmented generation (RAG) alongside the code-generation capabilities of large language models (LLMs) to address a…
Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Autonomous assembly has been a desired functionality of many intelligent robot systems. We study a new challenging assembly task, designing and constructing a bridge without a blueprint. In this task, the robot needs to first design a…
Graphics design is important for various applications, including movie production and game design. To create a high-quality scene, designers usually need to spend hours in software like Blender, in which they might need to interleave and…
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…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
GA LLM is a hybrid framework that combines Genetic Algorithms with Large Language Models to handle structured generation tasks under strict constraints. Each output, such as a plan or report, is treated as a gene, and evolutionary…
This paper investigates the generative designing of a bracket that aids in the rotation of a linkage mounted on it with a revolute joint. Generative design is a term that is generally used when we care about weight reduction and performance…
Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…
Recent generative models can synthesize "views" of artificial images that mimic real-world variations, such as changes in color or pose, simply by learning from unlabeled image collections. Here, we investigate whether such views can be…
Robots are expected to serve as intelligent assistants, helping humans with everyday household organization. A central challenge in this setting is the task of object placement, which requires reasoning about both semantic preferences…
This paper proposes a novel task named "3D part grouping". Suppose there is a mixed set containing scattered parts from various shapes. This task requires algorithms to find out every possible combination among all the parts. To address…
Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…
Recent developments in 3D generative AI enable users to create bespoke 3D models from text or image prompts. However, these approaches provide limited control over spatial structure, making them ill suited for tasks requiring precise…
Grasping specific objects in complex and irregularly stacked scenes is still challenging for robotics. Because the robot is not only required to identify the object's grasping posture but also needs to reason the manipulation relationship…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
With the rapid development of deep generative models (such as Generative Adversarial Networks and Diffusion models), AI-synthesized images are now of such high quality that humans can hardly distinguish them from pristine ones. Although…
The discovery of Metal-Organic Frameworks (MOFs) with application-specific properties remains a central challenge in materials chemistry, owing to the immense size and complexity of their structural design space. Conventional computational…