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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
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<title>Chemistry Lab Automation via Constrained Task and Motion Planning</title>
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<h1 class="title is-1 publication-title">Chemistry Lab Automation via Constrained Task and Motion Planning</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<!-- <a href="FIRST AUTHOR PERSONAL LINK" target="_blank">Naruki Yoshikawa</a><sup>*1</sup>,</span> -->
<a href="https://www.cs.toronto.edu/~naruki/" target="_blank">Naruki Yoshikawa</a><sup>*1</sup>,</span>
<span class="author-block">
<a href="https://andrewzl.github.io/" target="_blank">Andrew Zou Li</a><sup>*1</sup>,</span>
<span class="author-block">
<a href="https://kouroshd.github.io/" target="_blank">Kourosh Darvish</a><sup>*1</sup>,</span>
<span class="author-block">
<a href="https://y556zhao.github.io/" target="_blank">Yuchi Zhao</a><sup>*2</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=9mD-LUMAAAAJ&hl=en" target="_blank">Haoping Xu</a><sup>*1</sup>,</span>
<span class="author-block">
<a href="https://akuramshin.github.io/" target="_blank">Artur Kuramshin</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.matter.toronto.edu/basic-content-page/about-alan" target="_blank">Alán Aspuru-Guzik</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://animesh.garg.tech/" target="_blank">Animesh Garg</a><sup>1,3</sup>,</span>
<span class="author-block">
<a href="http://www.cs.toronto.edu/~florian/" target="_blank">Florian Shkurti</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block">Under Review</span>
<span class="eql-cntrb"><small><br><sup>*</sup>Indicates Equal Contribution  <sup>1</sup> University of Toronto & Vector Institute  <sup>2</sup> University of Waterloo  <sup>3</sup> Nvidia</small></span>
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<h2 class="title is-3">Abstract</h2>
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<p>
Chemists need to perform many laborious and time-consuming experiments in the lab to discover and understand the properties of new materials. To support and accelerate this process, we propose a robot framework for
manipulation that autonomously performs chemistry experiments. Our framework receives high-level abstract descriptions
of chemistry experiments, perceives the lab workspace, and autonomously plans multi-step actions and motions. The robot
interacts with a wide range of lab equipment and executes the generated plans. A key component of our method is constrained
task and motion planning using PDDLStream solvers. Preventing collisions and spillage is done by introducing a constrained
motion planner. Our planning framework can conduct different experiments employing implemented actions and lab tools. We
demonstrate the utility of our framework on pouring skills for various materials and two fundamental chemical experiments
for materials synthesis: solubility and recrystallization.
</p>
</div>
</div>
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</div>
</section>
<!-- End paper abstract -->
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<h2 class="title is-3 has-text-centered">Framework for Robot-assisted Chemical Synthesis</h2>
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<!-- Your image here -->
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<p>
We've developed a new framework for robot-assisted chemical synthesis that includes Perception, Task & Motion Planning, and Skills blocks. This framework allows robots to utilize available lab devices (such as sensors and actuators) by adding them to the robot network via ROS. The robot is also equipped with an extra degree of freedom at its end-effector, enabling it to perform constrained motions. Our framework receives the chemical synthesis goal in XDL format, and converts the procedure component into corresponding PDDL goals. The hardware and reagents components then identify the necessary initial conditions for synthesis. Perception is used to detect objects, estimate their positions and contents in the workspace, and monitor task progress. Finally, PDDLStream generates a sequence of actions for the robot to execute.
</p>
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</div>
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</section>
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<h2 class="title is-3 has-text-centered">Constrained Task and Motion Planning</h2>
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<p>
In a chemistry lab, the robot tends to carry beakers that contain liquids inside. Spillage avoidance should be considered in generating robot motions. Our framework integrates constrained motion planner with task and motion planning module and realized spillage-free robot motion.
</p>
</div>
<div class="column is-two-fifths">
<img src="static/images/constrained_motion_planning.gif" alt="Constrained motion planning" style="border-radius:3%;width:auto;height:400px;"/>
</div>
</div>
</div>
</section>
<section class="hero is-small">
<div class="hero-body">
<h2 class="title is-3 has-text-centered">Constrained Motion Planning Performance of 7 DoF and 8
DoF Robot</h2>
<div class="container">
<div class="content has-text-justified">
<p>
The
constrained motion planning performance of 7 DoF and 8
DoF robot is evaluated in two scenarios: (1) single step, (2)
two steps. In scenario (1), robots find a constrained path
with a fixed orientation from initial to final positions that
are randomly sampled. Scenario (2) extends the first with an
additional intermediate sampled waypoint.
</p>
</div>
<h4 class="subtitle is-4"><u>Scenario 1</u>: Single Step</h4>
<div class="columns">
<div class="column ">
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<!-- Your video here -->
<source src="static/videos/7dof_case1.mp4"
type="video/mp4">
</video>
<h4 class="subtitle is-4 has-text-centered">7 Degrees of Freedom</h4>
</div>
<div class="column ">
<video poster="" id="tree" autoplay controls muted loop height="100%">
<!-- Your video here -->
<source src="static/videos/8dof_case1.mp4"
type="video/mp4">
</video>
<h4 class="subtitle is-4 has-text-centered">8 Degrees of Freedom</h4>
</div>
</div>
<h4 class="subtitle is-4"><u>Scenario 2</u>: Two Step</h4>
<div class="columns">
<div class="column ">
<video poster="" id="tree" autoplay controls muted loop height="100%">
<!-- Your video here -->
<source src="static/videos/7dof_case2.mp4"
type="video/mp4">
</video>
<h4 class="subtitle is-4 has-text-centered">7 Degrees of Freedom</h4>
</div>
<div class="column ">
<video poster="" id="tree" autoplay controls muted loop height="100%">
<!-- Your video here -->
<source src="static/videos/8dof_case2.mp4"
type="video/mp4">
</video>
<h4 class="subtitle is-4 has-text-centered">8 Degrees of Freedom</h4>
</div>
</div>
<div class="content has-text-justified">
<p>
The performance of the 7-DoF and 8-DoF robot arms for
the two scenarios are shown in the following table. The results show that
the IK and constrained motion planning have higher success
rates in 8-DoF compared with the 7-DoF robot.
</p>
</div>
<div class="content has-text-centered">
<table class="table is-striped is-hoverable">
<thead>
<th> </th>
<th>Scenario 1 (%)</th>
<th> </th>
<th>Scenario 2 (%)</th>
<th> </th>
<tr>
<th> </th>
<th>IK</th>
<th>Plan</th>
<th>IK</th>
<th>Plan</th>
</tr>
</thead>
<tbody>
<tr>
<td><b>7 DoF</b></td>
<td>99</td>
<td>84</td>
<td>99</td>
<td>70</td>
</tr>
<tr>
<td><b>8 DoF</b></td>
<td>100</td>
<td>97</td>
<td>100</td>
<td>84</td>
</tr>
</tbody>
</table>
<!-- <img src="static/images/table.png" alt="Constrained motion planning table" style="width:50%;height:auto;"/> -->
</div>
</div>
</div>
</section>
<!-- Image carousel -->
<section class="hero is-light">
<div class="hero-body">
<h2 class="title is-3 has-text-centered">Pouring skill</h2>
<div class="container">
<div class="content">
<p>
Liquid transfer is one of the essential skills used in a chemistry lab. A pouring skill that intermittently rotates the container is implemented. This pouring strategy compensates the delayed feedback from the scale and outperformed PD controller. We present and analyze a set of accurate and
efficient pouring skills inspired by human motions.
</p>
</div>
<div class="columns">
<div class="column has-text-centered">
<img src="static/images/human_pour.gif" alt="Human pouring" style="border-radius:3%;width:auto;height:400px;"/>
</div>
<div class="column has-text-centered">
<img src="static/images/pouring_water.gif" alt="Water pouring" style="border-radius:3%;width:auto;height:400px;"/>
</div>
<div class="column has-text-centered">
<img src="static/images/pouring_salt.gif" alt="Water pouring" style="border-radius:3%;width:auto;height:400px;"/>
</div>
</div>
</div>
</div>
</section>
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