Pith Number

pith:5IPKX65C

pith:2026:5IPKX65CUFPWBM3EQQR2ENGSOU

not attested not anchored not stored refs resolved

Manipulation Planning for Construction Activities with Repetitive Tasks

Ci-Jyun Liang, Dasharadhan Mahalingam, Fanru Gao, Nilanjan Chakraborty, Wangyi Liu

Robots generalize from one VR demonstration to build walls of arbitrary length by modeling motions as constant screw sequences.

arxiv:2605.13754 v1 · 2026-05-13 · cs.RO

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

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Claims

C1strongest claim

Our experiments with a 7-DoF robot in both simulation and hardware demonstrate that the approach generalizes robustly to arbitrarily long construction activities that involve repetitive motions and demand precision, even when provided with just one demonstration. For instance, we can construct walls of arbitrary layout and length by leveraging a single demonstration of placing one brick on top of another.

C2weakest assumption

The demonstrated motion can be approximated as a sequence of constant screw motions without accumulating errors that would prevent the required precision over many repetitions in construction tasks.

C3one line summary

A robot generalizes one demonstration of placing a single brick to build walls of arbitrary length and layout by approximating motions as screw sequences and using ScLERP/RMRC for planning.

References

38 extracted · 38 resolved · 0 Pith anchors

[1] A. G. Billard, S. Calinon, and R. Dillmann, “Learning from humans,” Springer Handbook of Robotics, pp. 1995–2014, 2016. [Online]. Available: https://doi.org/10.1007/978-3-319-32552-1 74 1995 · doi:10.1007/978-3-319-32552-1

[2] Human-guided planning for complex manipulation tasks using the screw geometry of motion, 2023

[3] On screw linear interpola- tion for point-to-point path planning, 2020

[4] Resolved motion rate control of manipulators and human prostheses, 1969

[5] Robotic on- site construction of masonry, 1998

Formal links

1 machine-checked theorem link

Receipt and verification

First computed	2026-05-18T02:44:16.353092Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ea1eabfba2a15f60b3648423a234d275001755cbbd237f2d611caae5280cbe64

Aliases

arxiv: 2605.13754 · arxiv_version: 2605.13754v1 · doi: 10.48550/arxiv.2605.13754 · pith_short_12: 5IPKX65CUFPW · pith_short_16: 5IPKX65CUFPWBM3E · pith_short_8: 5IPKX65C

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/5IPKX65CUFPWBM3EQQR2ENGSOU \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: ea1eabfba2a15f60b3648423a234d275001755cbbd237f2d611caae5280cbe64

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fd6b7ec8c7d0d25a729394b26a6ae8b9247ddf640b1b9bec80b6ca584959c26d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T16:33:13Z",
    "title_canon_sha256": "7f95024b9498d0d4e0d42a88855498339e3ac82e963b2a42169041f54838ffd6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13754",
    "kind": "arxiv",
    "version": 1
  }
}