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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
On Two-Handed Planar Assembly Partitioning with Connectiv...
Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, Dan Halperin · 2020-09-26 · via cs.RO updates on arXiv.org

Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is naturally cast as a disassembly problem, giving rise to the assembly partitioning problem: Given a set $A$ of parts, find a subset $S\subset A$, referred to as a subassembly, such that $S$ can be rigidly translated to infinity along a prescribed direction without colliding with $A\setminus S$. While assembly partitioning is efficiently solvable, it is further desirable for the parts of a subassembly to be easily held together. This motivates the problem that we study, called connected-assembly-partitioning, which additionally requires each of the two subassemblies, $S$ and $A\setminus S$, to be connected. We show that this problem is NP-complete, settling an open question posed by Wilson et al. (1995) a quarter of a century ago, even when $A$ consists of unit-grid squares (i.e., $A$ is polyomino-shaped). Towards this result, we prove the NP-hardness of a new Planar 3-SAT variant having an adjacency requirement for variables appearing in the same clause, which may be of independent interest. On the positive side, we give an $O(2^k n^2)$-time fixed-parameter tractable algorithm (requiring low degree polynomial-time pre-processing) for an assembly $A$ consisting of polygons in the plane, where $n=|A|$ and $k=|S|$. We also describe a special case of unit-grid square assemblies, where a connected partition can always be found in $O(n)$-time.