Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning to Design and Construct Bridge without Blueprint   Autonomous assembly has been a desired functionality of many intelligent
robot systems. We study a new challenging assembly task, designing and
constructing a bridge without a blueprint. In this task, the robot needs to
first design a feasible bridge architecture for arbitrarily wide cliffs and
then manipulate the blocks reliably to construct a stable bridge according to
the proposed design. In this paper, we propose a bi-level approach to tackle
this task. At the high level, the system learns a bridge blueprint policy in a
physical simulator using deep reinforcement learning and curriculum learning. A
policy is represented as an attention-based neural network with object-centric
input, which enables generalization to different numbers of blocks and cliff
widths. For low-level control, we implement a motion-planning-based policy for
real-robot motion control, which can be directly combined with a trained
blueprint policy for real-world bridge construction without tuning. In our
field study, our bi-level robot system demonstrates the capability of
manipulating blocks to construct a diverse set of bridges with different
architectures.

11
The categories of this paper are: hep-lat
28
The categories of this paper are: alg-geom
15
The categories of this paper are: nucl-ex
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
29
The categories of this paper are: funct-an
27
The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
0
The categories of this paper are: hep-ph
25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
36
The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
14
The categories of this paper are: math-ph