arXiv cs.AI· Rumi Loghmani, Bozhang Song, Victor Alvarado, Aliyah Redding, Amir Barati Farimani·· 10 小时前AI 评分38
Curie's Jarvis：从打印版实验步骤自主完成机器人化学实验
Curie's Jarvis: Autonomous Robotic Chemistry Experiments from Printed Protocols
AI 导读
Curie's Jarvis 让机械臂能按打印版实验步骤在普通实验台上自主完成化学实验：它从步骤照片读取流程，在无固定位置和标记的台面上定位容器，并通过四个摄像头视角读取标签区分外观相同的容器。在 Franka Panda 机械臂上，该系统无人工干预完成儿童化学套件中一个协议的 5/5 次运行和另一个协议的 4/5 次运行，并在 160 次打印与手写标签定位中全部识别正确。
正文 · 原文
Abstract:A person running a bench experiment works from a printed instruction sheet, tells identical containers apart by the labels written on them, and looks at the bench again before each step. Lab automation usually works the other way around: the procedure is written as a script, and containers stand at fixed positions or carry fiducial markers. We present Curie's Jarvis, a system that lets a robot arm carry out a chemistry experiment on a bench set up for people. It reads the steps from a photo of the printed sheet, finds containers on an ordinary bench with no fixed positions or markers, tells identical-looking containers apart by reading their labels in four camera views, locates its target again before every step, and sets how each step is carried out, including its speed, from what is being handled. On a Franka Panda arm, Curie's Jarvis completed 5 of 5 runs of one protocol from a children's chemistry kit and 4 of 5 runs of another, with no human intervention, and in 160 locates on printed and handwritten labels it identified every container correctly. This brings robots a step closer to doing bench chemistry the way people do.
| Comments: | 8 pages, 3 figures, 4 tables. Rumi Loghmani and Bozhang Song contributed equally |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2611.13251 [cs.RO] |
| (or arXiv:2611.13251v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2611.13251 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Rumi Loghmani [view email]
[v1]
Mon, 9 Nov 2026 21:22:55 UTC (1,620 KB)
来源：arXiv cs.AI · arxiv.org