19 papers
Backward Layout Search for Sequence-Constrained Robotic Assembly
Xi Zhang, Jiancong Dai, Hao Chen +3
Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuring collision-free execution of a prescribed assembly sequence. This…
HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion
Hanying Hu, Weipeng Li, Yikun Huang +4
End-to-end imitation learning avoids hand-made robot motion for approaching and grasping, but the policy must still decide which fruit to pick and where to close the gripper. Occlu…
Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following
Xinyi Yuan, Weiwei Wan, Kensuke Harada
This work studies ``extreme motion generation'', which aims to maximize the Cartesian path length along a pre-defined trajectory within the manipulator's workspace. This objective…
Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to e…
Replaceable Bit-based Gripper for Picking Cluttered Food Items
Prashant Kumar, Yukiyasu Domae, Weiwei Wan +1
The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and c…
Prompt2Craft: Generating Functional Craft Assemblies with LLMs
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe +3
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 assembl…