4 papers
Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control
Roman Ibrahimov, Salma Mozaffari, Arash Adel
Construction robotics and automation offer promising means of improving productivity, alleviating workforce shortages, and reducing workers' exposure to physically demanding tasks.…
Adaptive Human-Robot Collaboration for Masonry Construction Under Material and Assembly Uncertainty
Jutang Gao, Arash Adel
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and asse…
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
Salma Mozaffari, Daniel Ruan, William van den Bogert +3
Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction,…
A Latency-Aware Framework for Visuomotor Policy Learning on Industrial Robots
Daniel Ruan, Salma Mozaffari, Sigrid Adriaenssens +1
Industrial robots are increasingly deployed in construction and manufacturing tasks, where the deployment of end-to-end visuomotor policies is challenged by the observation-executi…