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

This paper introduces a generative model designed for multimodal control over text-to-image foundation generative AI models such as Stable Diffusion, specifically tailored for engineering design synthesis. Our model proposes parametric,…

Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applications. In this paper, we introduce a zero-shot…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

Generative AI has transformed the fields of Design and Manufacturing by providing efficient and automated methods for generating and modifying 3D objects. One approach involves using Large Language Models (LLMs) to generate Computer- Aided…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

Generative Adversarial Networks (GANs) have many potential medical imaging applications. Due to the limited memory of Graphical Processing Units (GPUs), most current 3D GAN models are trained on low-resolution medical images, these models…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object…

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…

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…

Generating photo-realistic video portrait with arbitrary speech audio is a crucial problem in film-making and virtual reality. Recently, several works explore the usage of neural radiance field in this task to improve 3D realness and image…

We present a framework, DISORF, to enable online 3D reconstruction and visualization of scenes captured by resource-constrained mobile robots and edge devices. To address the limited computing capabilities of edge devices and potentially…

We present MOFA, an open-source generative AI (GenAI) plus simulation workflow for high-throughput generation of metal-organic frameworks (MOFs) on large-scale high-performance computing (HPC) systems. MOFA addresses key challenges in…

Large Language Models (LLMs) show promise as planners for embodied AI, but their stochastic nature lacks formal reasoning, preventing strict safety guarantees for physical deployment. Current approaches often rely on unreliable LLMs for…

Gear assembly is an essential but challenging task in industrial automation. This paper presents a novel two-stage approach for achieving high-precision and flexible gear assembly. The proposed approach integrates YOLO to coarsely localize…

Assembly modeling is a core task of computer aided design (CAD), comprising around one third of the work in a CAD workflow. Optimizing this process therefore represents a huge opportunity in the design of a CAD system, but current research…

Diagrams are crucial for communicating complex information, yet creating and modifying them remains a labor-intensive task. We present GenAI-DrawIO-Creator, a novel framework that leverages Large Language Models (LLMs) to automate diagram…

Generative AI (GenAI) is reshaping software engineering by shifting development from manual coding toward agent-driven implementation. While vibe coding promises rapid prototyping, it often suffers from architectural drift, limited…