AutoTRIZ: Artificial Ideation with TRIZ and Large Language Models

Researchers and innovators have made enormous efforts in developing ideation methods, such as morphological analysis and design-by-analogy, to aid engineering design ideation for problem solving and innovation. Among these, TRIZ stands out as the most well-known approach, widely applied for systematic innovation. However, the complexity of TRIZ resources and concepts, coupled with its reliance on users' knowledge, experience, and reasoning capabilities, limits its practicability. This paper proposes AutoTRIZ, an artificial ideation tool that leverages large language models (LLMs) to automate and enhance the TRIZ methodology. By leveraging the broad knowledge and advanced reasoning capabilities of LLMs, AutoTRIZ offers a novel approach to design automation and interpretable ideation with artificial intelligence. We demonstrate and evaluate the effectiveness of AutoTRIZ through consistency experiments in contradiction detection and comparative studies with cases collected from TRIZ textbooks. Moreover, the proposed LLM-based framework holds the potential for extension to automate other knowledge-based ideation methods, including SCAMPER, Design Heuristics, and Design-by-Analogy, paving the way for a new era of artificial ideation for design and innovation.

Robot Body Schema Learning from Full-body Extero/Proprioception Sensors

For a robot, its body structure is an a-prior knowledge when it is designed. However, when such information is not available, can a robot recognize it by itself? In this paper, we aim to grant a robot such ability to learn its body structure from exteroception and proprioception data collected from on-body sensors. By a novel machine learning method, the robot can learn a binary Heterogeneous Dependency Matrix from its sensor readings. We showed such matrix is equivalent to a Heterogeneous out-tree structure which can uniquely represent the robot body topology. We explored the properties of such matrix and the out-tree, and proposed a remedy to fix them when they are contaminated by partial observability or data noise. We ran our algorithm on 6 different robots with different body structures in simulation and 1 real robot. Our algorithm correctly recognized their body structures with only on-body sensor readings but no topology prior knowledge.

A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers

Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for robotic perception, modeling and manipulation, due to the infinite dimensionality of the state space of deformable objects (DOs) and the complexity of their dynamics. The development of computer graphics and machine learning has enabled novel techniques for DOM. These techniques, based on data-driven paradigms, can address some of the challenges that analytical approaches of DOM face. However, some existing reviews do not include all aspects of DOM, and some previous reviews do not summarize data-driven approaches adequately. In this article, we survey more than 150 relevant studies (data-driven approaches mainly) and summarize recent advances, open challenges, and new frontiers for aspects of perception, modeling and manipulation for DOs. Particularly, we summarize initial progress made by Large Language Models (LLMs) in robotic manipulation, and indicates some valuable directions for further research. We believe that integrating data-driven approaches and analytical approaches can provide viable solutions to open challenges of DOM.

Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain

Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots that integrates tactile perception to augment their adaptability to various terrains. Our approach embraces a hierarchical reinforcement learning (HRL) architecture, wherein the high-level orchestrates global navigation strategies while the low-level uses curriculum learning for local navigation maneuvers. Due to the significant computational demands of collision detection in whole-body tactile sensing, the efficiency of the simulator is severely compromised. Thus a distributed training pattern to mitigate the efficiency reduction was adopted. We evaluated the navigation performance of the snake robot in complex large-scale cave exploration with challenging terrains to exhibit improvements in motion efficiency, evidencing the efficacy of tactile perception in terrain-adaptive locomotion of snake robots.

Hierarchical RL-Guided Large-scale Navigation of a Snake Robot

Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a four-layer hierarchical control scheme to enable the snake robot to navigate freely in large-scale environments. The proposed model decomposes navigation into global planning, local planning, gait generation, and gait tracking. Using reinforcement learning (RL) and a central pattern generator (CPG), our method learns to navigate in complex mazes within hours and can be directly deployed to arbitrary new environments in a zero-shot fashion. We use the high-fidelity model of Northeastern's slithering robot COBRA to test the effectiveness of the proposed hierarchical control approach.

Robot Learning in the Era of Foundation Models: A Survey

The proliferation of Large Language Models (LLMs) has s fueled a shift in robot learning from automation towards general embodied Artificial Intelligence (AI). Adopting foundation models together with traditional learning methods to robot learning has increasingly gained recent interest research community and showed potential for real-life application. However, there are few literatures comprehensively reviewing the relatively new technologies combined with robotics. The purpose of this review is to systematically assess the state-of-the-art foundation model techniques in the robot learning and to identify future potential areas. Specifically, we first summarized the technical evolution of robot learning and identified the necessary preliminary preparations for foundation models including the simulators, datasets, foundation model framework. In addition, we focused on the following four mainstream areas of robot learning including manipulation, navigation, planning, and reasoning and demonstrated how the foundation model techniques can be adopted in the above scenarios. Furthermore, critical issues which are neglected in the current literatures including robot hardware and software decoupling, dynamic data, generalization performance with the presence of human, etc. were discussed. This review highlights the state-of-the-art progress of foundation models in robot learning and future research should focus on multimodal interaction especially dynamics data, exclusive foundation models for robots, and AI alignment, etc.

Patent Data for Engineering Design: A Review

Patent data have been utilized for engineering design research for long because it contains massive amount of design information. Recent advances in artificial intelligence and data science present unprecedented opportunities to mine, analyse and make sense of patent data to develop design theory and methodology. Herein, we survey the patent-for-design literature by their contributions to design theories, methods, tools, and strategies, as well as different forms of patent data and various methods. Our review sheds light on promising future research directions for the field.

Technology Fitness Landscape and the Future of Innovation

We present a deep learning-based technology fitness landscape premised on a neural embedding space of 1,757 technology domains and their respective improvement rates. The technology embedding space is a high-dimensional vector space trained via applying neural embedding techniques to patent data. The improvement rates of respective technology domains are drawn from a prior study. The technology fitness landscape exhibits a high hill related to information and communication technologies (ICT) and a vast low plain of the remaining domains. The technology fitness landscape presents a bird's eye view of the structure of the total technology space, a new way to interpret technology evolution with a biological analogy, and a biologically-inspired inference to next innovation.

Deep Learning for Technical Document Classification

In large technology companies, the requirements for managing and organizing technical documents created by engineers and managers in supporting relevant decision making have increased dramatically in recent years, which has led to a higher demand for more scalable, accurate, and automated document classification. Prior studies have primarily focused on processing text for classification and small-scale databases. This paper describes a novel multimodal deep learning architecture, called TechDoc, for technical document classification, which utilizes both natural language and descriptive images to train hierarchical classifiers. The architecture synthesizes convolutional neural networks and recurrent neural networks through an integrated training process. We applied the architecture to a large multimodal technical document database and trained the model for classifying documents based on the hierarchical International Patent Classification system. Our results show that the trained neural network presents a greater classification accuracy than those using a single modality and several earlier text classification methods. The trained model can potentially be scaled to millions of real-world technical documents with both text and figures, which is useful for data and knowledge management in large technology companies and organizations.

Data-Driven Design-by-Analogy: State of the Art and Future Directions

Design-by-Analogy (DbA) is a design methodology wherein new solutions, opportunities or designs are generated in a target domain based on inspiration drawn from a source domain; it can benefit designers in mitigating design fixation and improving design ideation outcomes. Recently, the increasingly available design databases and rapidly advancing data science and artificial intelligence technologies have presented new opportunities for developing data-driven methods and tools for DbA support. In this study, we survey existing data-driven DbA studies and categorize individual studies according to the data, methods, and applications in four categories, namely, analogy encoding, retrieval, mapping, and evaluation. Based on both nuanced organic review and structured analysis, this paper elucidates the state of the art of data-driven DbA research to date and benchmarks it with the frontier of data science and AI research to identify promising research opportunities and directions for the field. Finally, we propose a future conceptual data-driven DbA system that integrates all propositions.