相关论文: LLM-Pack: Intuitive Grocery Handling for Logistics…
Choosing appropriate fabrics is critical for meeting functional and quality demands in robotic textile manufacturing, apparel production, and smart retail. We propose MLLM-Fabric, a robotic framework leveraging multimodal large language…
Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consisting of only one garment, while piled…
Recent advancements in generative artificial intelligence (AI) have demonstrated its substantial potential in various fields. However, its application in port logistics remains underexplored. Ports are complex operational environments where…
Intelligent manufacturing is becoming increasingly important due to the growing demand for maximizing productivity and flexibility while minimizing waste and lead times. This work investigates automated secondary robotic food packaging…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
The automation of warehouse operations is crucial for improving productivity and reducing human exposure to hazardous environments. One operation frequently performed in warehouses is bin-packing where items need to be placed into…
In modern industrial production, multiple robots often collaborate to complete complex manufacturing tasks. Large language models (LLMs), with their strong reasoning capabilities, have shown potential in coordinating robots for simple…
Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves…
Visual Language Models (VLMs) are now increasingly being merged with Large Language Models (LLMs) to enable new capabilities, particularly in terms of improved interactivity and open-ended responsiveness. While these are remarkable…
In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception…
Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying packet identity or…
Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
Modern e-commerce platforms strive to enhance customer experience by providing timely and contextually relevant recommendations. However, recommending general merchandise to customers focused on grocery shopping -- such as pairing milk with…
Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…
Existing pipelines for vision-language models (VLMs) in robotic manipulation prioritize broad semantic generalization from images and language, but typically omit execution-critical parameters required for contact-rich actions in…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…
The efficient planning of stacking boxes, especially in the online setting where the sequence of item arrivals is unpredictable, remains a critical challenge in modern warehouse and logistics management. Existing solutions often address box…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
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…