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.

翻译：化学家需要在实验室中开展大量费力且耗时的实验，以发现和了解新材料的特性。为支持和加速这一过程，我们提出了一种机器人操作框架，能够自主执行化学实验。该框架接收化学实验的高层抽象描述，感知实验室工作空间，并自主规划多步骤操作与运动。机器人可与多种实验室设备交互，并执行所生成的规划方案。本方法的关键组成部分是使用PDDLStream求解器实现的约束任务与运动规划。通过引入约束运动规划器来防止碰撞和液体溅洒。我们的规划框架能够利用已实现的操作动作与实验工具进行不同实验。我们通过多种材料的倾倒技能以及两个基础化学实验（溶解度测定和重结晶）展示了该框架的实用性。