Real-world construction projects typically require three groups of tasks: site preparation
(earthmoving, leveling), substructure (anchoring, foundations), and superstructure (load …

The increasing need for safe, inexpensive, and sustainable construction, combined with
novel technological enablers, has made large-scale construction by robot teams an active …

Automated building processes that enable efficient in situ resource utilization can facilitate
construction in remote locations while simultaneously offering a carbon-reducing alternative …

We study the problem of robotic stacking with objects of complex geometry. We propose a
challenging and diverse set of such objects that was carefully designed to require strategies …

Visual imitation learning provides a framework for learning complex manipulation behaviors
by leveraging human demonstrations. However, current interfaces for imitation such as …

Human environments contain numerous objects configured in a variety of arrangements.
Our goal is to enable robots to repose previously unseen objects according to learned …

Physical intuition is pivotal for intelligent agents to perform complex tasks. In this paper we
investigate the passive acquisition of an intuitive understanding of physical principles as …

Automating building processes through robotic systems has the potential to address the
need for safer, more efficient, and sustainable construction operations. While ongoing …

On-site robotic construction not only has the potential to enable architectural assemblies that
exceed the size and complexity practical with laboratory-based prefabrication methods, but …

Long horizon sequential manipulation tasks are effectively addressed hierarchically: at a
high level of abstraction the planner searches over abstract action sequences, and when a …