7 papers
VAMP-MR: Vector-Accelerated Motion Planning and Execution for Multi-Robot-Arms
Philip Huang, Chenrui Gao, Jiaoyang Li
Multi-robot-arm motion planning is a key challenge in deploying multiple manipulators for industrial tasks such as manufacturing. Existing search-based and sampling-based solvers o…
Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations
Peiqi Yu, Philip Huang, Chaitanya Chawla +3
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This pape…
Prompt-to-Product: Generative Assembly via Bimanual Manipulation
Ruixuan Liu, Philip Huang, Ava Pun +8
Creating assembly products demands significant manual effort and expert knowledge in 1) designing the assembly and 2) constructing the product. This paper introduces Prompt-to-Prod…
Benchmarking Shortcutting Techniques for Multi-Robot-Arm Motion Planning
Philip Huang, Yorai Shaoul, Jiaoyang Li
Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional mot…
APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
Philip Huang, Ruixuan Liu, Shobhit Aggarwal +2
Compared to a single-robot workstation, a multi-robot system offers several advantages: 1) it expands the system's workspace, 2) improves task efficiency, and, more importantly, 3)…
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Andrew Z. Li, Philip Huang +7
Planning for sequential robotics tasks often requires integrated symbolic and geometric reasoning. TAMP algorithms typically solve these problems by performing a tree search over h…
Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images
Philip Huang, Tony Wang, Florian Shkurti +1
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite ima…