10 papers
BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
Haowei Wen, Ruixuan Liu, Weiyi Piao +2
Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faith…
Generating Physically Stable and Buildable Brick Structures from Text
Ava Pun, Kangle Deng, Ruixuan Liu +3
We introduce BrickGPT, the first approach for generating physically stable interconnecting brick assembly models from text prompts. To achieve this, we construct a large-scale, phy…
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…
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)…
Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
Xusheng Luo, Changliu Liu
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL form…
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei, Xusheng Luo, Changliu Liu
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existin…