# RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots

arXiv: https://arxiv.org/abs/2402.16542 · HTML: https://mlsanity.com/paper/2402.16542/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 16 references that are in the map.
- First posted on arXiv 26 Feb 2024.

## Builds on (most cited first, 6 of 6)

- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Integrated Task and Motion Planning](https://mlsanity.com/paper/2010.01083/) (2020)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [Foundations of the Socio-physical Model of Activities (SOMA) for Autonomous Robotic Agents](https://mlsanity.com/paper/2011.11972/) (2020)
- [Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations](https://mlsanity.com/paper/2306.02739/) (2023)

## Built on by (most cited first, 1 of 1)

- [Large Language Models for Computer-Aided Design: A Survey](https://mlsanity.com/paper/2505.08137/) (2025)

## Abstract (arXiv)

Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboGrind, an integrated system for the intuitive, interactive automation of surface treatment tasks with industrial robots. It combines a sophisticated 3D perception pipeline for surface scanning and automatic defect identification, an interactive voice-controlled wizard system for the AI-assisted bootstrapping and parameterization of robot programs, and an automatic planning and execution pipeline for force-controlled robotic surface treatment. RoboGrind is evaluated both under laboratory and real-world conditions in the context of refabricating fiberglass wind turbine blades.