5 papers
A Deployment Case Study in Robotic Apparel Automation: Digital Twin Integration, Interoperability, and Workforce Enablement
Gokul Narayanan, Abhiroop Ajith, Jonathan Zornow +5
Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, apparel automation remains challenging because fabrics are deformable an…
STRIPS-WM: Learning Grounded Propositional STRIPS-style World Models from Images
Abhiroop Ajith, Constantinos Chamzas
Robots performing long-horizon visual manipulation observe high-dimensional images, but successful plans depend on action-relevant facts: what can be done now and what changes afte…
Learning Discrete Abstractions for Visual Rearrangement Tasks Using Vision-Guided Graph Coloring
Abhiroop Ajith, Constantinos Chamzas
Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating executi…
Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints
Jeel Chatrola, Abhiroop Ajith, Kevin Leahy +1
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes pot…
Robotic Automation in Apparel Manufacturing: A Novel Approach to Fabric Handling and Sewing
Abhiroop Ajith, Gokul Narayanan, Jonathan Zornow +5
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic…