Sigrid Adriaenssens

Salma Mozaffari, Daniel Ruan, William van den Bogert et al. · princeton

Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction, particularly for contact-rich manipulation tasks governed by friction and geometric constraints. This paper investigates the deployment of diffusion policy learning on construction-scale industrial robots to enable robust, high-precision assembly under such uncertainty, using tight-fitting mortise and tenon timber joinery as a representative case study. Sensory-motor diffusion policies are trained using teleoperated demonstrations collected from an industrial robotic workcell equipped with force/torque sensing. A two-phase experimental study evaluates baseline performance and robustness under randomized positional perturbations up to 10 mm, far exceeding the sub-millimeter joint clearance. The best-performing policy achieved 100% success under nominal conditions and 75% average success under uncertainty. These results provide initial evidence that diffusion policies compensate for misalignments through contact-aware control, representing a step toward robust robotic assembly in construction under tight tolerances.

Luigi Sibille, Sigrid Adriaenssens, Carlo Olivieri

Form-finding of unilateral membrane structures is commonly addressed by solving equilibrium equations with Finite Element Methods (FEMs). This paper investigates Physics-Informed Neural Networks (PINNs) as an alternative, where the equilibrium equation is enforced by minimizing its residual at collocation points during neural-network training rather than by solving a mesh-based discretized system. This approach is well suited to form-finding problems based on Membrane Equilibrium Analysis (MEA), in which the unknown membrane surface is governed by a second-order elliptic Partial Differential Equation (PDE) with Dirichlet boundary conditions. Two PINN formulations are proposed and compared: a soft-Boundary Condition (soft-BC) approach, where the boundary conditions are imposed through a penalty term, and a hard-BC approach, where they are satisfied exactly by construction through distance and lift functions. The methods are assessed on three case studies with different geometrical complexity, including compression-only and tension-only stress states, and combined self-weight, concentrated vertical loads, and horizontal actions. Both formulations produce membrane surfaces in close agreement with solutions obtained using an FEM-based PDE solver. The hard-BC formulation gives smaller errors and a smoother residual distribution, especially near the boundary, showing that exact enforcement of the Dirichlet conditions improves overall accuracy. The soft-BC formulation still provides structurally meaningful solutions and remains attractive when simpler implementation is preferred and limited relaxation of the boundary data is acceptable. Overall, the results show that PINNs are a viable alternative for MEA-based form-finding.

Tianju Xue, Sigrid Adriaenssens, Sheng Mao

The dynamics of soft mechanical metamaterials provides opportunities for many exciting engineering applications. Previous studies often use discrete systems, composed of rigid elements and nonlinear springs, to model the nonlinear dynamic responses of the continuum metamaterials. Yet it remains a challenge to accurately construct such systems based on the geometry of the building blocks of the metamaterial. In this work, we propose a machine learning approach to address this challenge. A metamaterial graph network (MGN) is used to represent the discrete system, where the nodal features contain the positions and orientations the rigid elements, and the edge update functions describe the mechanics of the nonlinear springs. We use Gaussian process regression as the surrogate model to characterize the elastic energy of the nonlinear springs as a function of the relative positions and orientations of the connected rigid elements. The optimal model can be obtained by "learning" from the data generated via finite element calculation over the corresponding building block of the continuum metamaterial. Then, we deploy the optimal model to the network so that the dynamics of the metamaterial at the structural scale can be studied. We verify the accuracy of our machine learning approach against several representative numerical examples. In these examples, the proposed approach can significantly reduce the computational cost when compared to direct numerical simulation while reaching comparable accuracy. Moreover, defects and spatial inhomogeneities can be easily incorporated into our approach, which can be useful for the rational design of soft mechanical metamaterials.

Edvard P. G. Bruun, Rafael Pastrana, Vittorio Paris et al.

Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with expensive scaffolding or falsework to provide stability during construction. The process of building such structures can potentially be improved through the use of multiple robots working together in a cooperative assembly framework. Here a robot is envisioned as both a placement and external support agent during fabrication - the unfinished structure is supported in such a way that scaffolding is not required. The goal of this paper is to present and validate the efficacy of three cooperative fabrication approaches using two or three robots, for the scaffold-free construction of a stable masonry arch from which a medium-span vault is built. A simplified numerical method to represent a masonry structure is first presented and validated to analyse systems composed of discrete volumetric elements. This method is then used to evaluate the effect of the three cooperative robotic fabrication strategies on the stability performance of the central arch. The sequential method and cantilever method, which utilize two robotic arms, are shown to be viable methods, but have challenges related to scalability and robustness. By adding a third robotic agent, it becomes possible to determine a structurally optimal fabrication sequence through a multi-objective optimization process. The optimized three robot method is shown to significantly improve the structural behavior over all fabrication steps. The modeling approaches presented in this paper are broadly formulated and widely applicable for the analysis of cooperative robotic fabrication sequences for the construction of discrete element structures across scales and materials.