Alan Chen

Ruixuan Liu, Alan Chen, Weiye Zhao et al.

Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the goal is to find a sequence of actions for placing unit primitives to build the target object. In particular, we aim to ensure the planned assembly sequence is physically executable. However, ASP for combinatorial assembly is particularly challenging due to its combinatorial nature. To address the challenge, we employ deep reinforcement learning to learn a construction policy for placing unit primitives sequentially to build the desired object. Specifically, we design an online physics-aware action mask that filters out invalid actions, which effectively guides policy learning and ensures violation-free deployment. In the end, we apply the proposed method to Lego assembly with more than 250 3D structures. The experiment results demonstrate that the proposed method plans physically valid assembly sequences to build all structures, achieving a $100\%$ success rate, whereas the best comparable baseline fails more than $40$ structures. Our implementation is available at \url{https://github.com/intelligent-control-lab/PhysicsAwareCombinatorialASP}.

Alexander Gu, Alan Chen

Large language models (LLMs) frequently contradict themselves when the surface form of a logically equivalent question changes. We present a benchmark of 350 question families (1,750 total questions) for Controlled Reformulation Testing (CRTBench) to evaluate logical invariance. In this benchmark, we investigate LLMs' ability to maintain consistent answers across controlled reformulations, which include contrapositive rewriting, double negation, negation flipping, and passive voice. We evaluate several frontier LLMs and observe an accuracy-consistency gap where GPT-5.4-mini achieves $98.9\%$ base accuracy but only $60.3\%$ family-level consistency, while reasoning-optimized o4-mini achieves $96.9\%$ consistency. From our experiments, we observe that failures cluster around logically nontrivial transformations such as contrapositive rewriting ($72.4\%$ for GPT-5.4-mini) and double negation ($84.6\%$), while surface-level rephrasing remains robust ($94-100\%$). Increasing reasoning effort improves GPT-5.4-mini to $85.4\%$ consistency, but leaves GPT-5.4 unchanged overall because gains on nested negation are offset by failures on quantifier families. These results show that accuracy alone is not enough for evaluating logical reasoning in LLMs.

Alan Chen, Changliu Liu

A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete missing features without human instruction is valuable but challenging. This paper introduces 3D combinatorial assembly completion, which is demonstrated using combinatorial unit primitives (i.e., Lego bricks). Combinatorial assembly is challenging due to the possible assembly combinations and complex physical constraints (e.g., no brick collisions, structure stability, inventory constraints, etc.). To address these challenges, we propose a two-part deep reinforcement learning (DRL) framework that tackles teaching the robot to understand the objective of an incomplete assembly and learning a construction policy to complete the assembly. The robot queries a stable object library to facilitate assembly inference and guide learning. In addition to the robot policy, an action mask is developed to rule out invalid actions that violate physical constraints for object-oriented construction. We demonstrate the proposed framework's feasibility and robustness in a variety of assembly scenarios in which the robot satisfies real-life assembly with respect to both solution and runtime quality. Furthermore, results demonstrate that the proposed framework effectively infers and assembles incomplete structures for unseen and unique object types.