Recent advances in Vision Language Models (VLMs) have enhanced their application in robotics, encompassing both high-level task planning and low-level action control. Despite their strong performance across various robotic tasks, even for zero-shot scenarios, most VLM applications remain open-loop, adhering to a plan-and-execute paradigm without mechanisms to assess task completion. To address this limitation, we propose GenCo, a Generate-Correct framework designed to automate a peg-in-hole task using a UR5e robot. This framework integrates an VLM-based motion generator and motion expert, working collaboratively to refine and correct actions during robotic task execution. Both VLM agents are fine-tuned using the pre-trained LLaVA, enhancing adaptability and scaling efficiently to diverse tasks. Our experiments demonstrate the adaptiveness of the framework, improving the success rate for the peg-in-hole task by 12.75% compared to a single VLM open-loop method. Notably, in unseen scenarios, the success rate for a triangular peg was increased by 15%, and for a random-shaped peg by 17%, underscoring the system's effectiveness in handling novel tasks. Adaptive testing under varied camera positions demonstrated robust performance, affirming reliability despite shifts in the visual input. The framework is also designed to be lightweight and efficient, facilitating broader adoption and practical deployment. Access to our code and model is provided here: https://github.com/Zhengxuez/generate_correct

Many important scientific problems involve multivariate optimization coupled with slow and laborious experimental measurements. These high-dimensional searches can be defined by complex, non-convex optimization landscapes that resemble needle-in-a-haystack surfaces, leading to entrapment in local minima. Contextualizing optimizers with human domain knowledge is a powerful approach to guide searches to localized fruitful regions. However, this approach is susceptible to human confirmation bias. It is also challenging for domain experts to keep track of the rapidly expanding scientific literature. Here, we propose the use of Large Language Models (LLMs) for contextualizing Bayesian optimization (BO) via a hybrid optimization framework that intelligently and economically blends stochastic inference with domain knowledge-based insights from the LLM, which is used to suggest new, better-performing areas of the search space for exploration. Our method fosters user engagement by offering real-time commentary on the optimization progress, explaining the reasoning behind the search strategies. We validate the effectiveness of our approach on synthetic benchmarks with up to 15 variables and demonstrate the ability of LLMs to reason in four real-world experimental tasks where context-aware suggestions boost optimization performance substantially.

In this paper we propose DKIBO, a Bayesian optimization (BO) algorithm that accommodates domain knowledge to tune exploration in the search space. Bayesian optimization has recently emerged as a sample-efficient optimizer for many intractable scientific problems. While various existing BO frameworks allow the input of prior beliefs to accelerate the search by narrowing down the space, incorporating such knowledge is not always straightforward and can often introduce bias and lead to poor performance. Here we propose a simple approach to incorporate structural knowledge in the acquisition function by utilizing an additional deterministic surrogate model to enrich the approximation power of the Gaussian process. This is suitably chosen according to structural information of the problem at hand and acts a corrective term towards a better-informed sampling. We empirically demonstrate the practical utility of the proposed method by successfully injecting domain knowledge in a materials design task. We further validate our method’s performance on different experimental settings and ablation analyses.

Automated laboratory experiments have the potential to propel new discoveries, while increasing reproducibility and improving scientists' safety when handling dangerous materials. However, many automated laboratory workflows have not fully leveraged the remarkable advancements in robotics and digital lab equipment. As a result, most robotic systems used in the labs are programmed specifically for a single experiment, often relying on proprietary architectures or using unconventional hardware. In this work, we tackle this problem by proposing a novel robotic system architecture specifically designed with and for chemists, which allows the scientist to easily reconfigure their setup for new experiments. Specifically, the system's strength is its ability to combine together heterogeneous robotic platforms with standard laboratory equipment to create different experimental setups. Finally, we show how the architecture can be used for specific laboratory experiments through case studies such as solubility screening and crystallisation.

Accelerating material discovery has tremendous societal and industrial impact, particularly for pharmaceuticals and clean energy production. Many experimental instruments have some degree of automation, facilitating continuous running and higher throughput. However, it is common that sample preparation is still carried out manually. This can result in researchers spending a significant amount of their time on repetitive tasks, which introduces errors and can prohibit production of statistically relevant data. Crystallisation experiments are common in many chemical fields, both for purification and in polymorph screening experiments. The initial step often involves a solubility screen of the molecule; that is, understanding whether molecular compounds have dissolved in a particular solvent. This usually can be time consuming and work intensive. Moreover, accurate knowledge of the precise solubility limit of the molecule is often not required, and simply measuring a threshold of solubility in each solvent would be sufficient. To address this, we propose a novel cascaded deep model that is inspired by how a human chemist would visually assess a sample to determine whether the solid has completely dissolved in the solution. In this paper, we design, develop, and evaluate the first fully autonomous solubility screening framework, which leverages state-of-the-art methods for image segmentation and convolutional neural networks for image classification. To realise that, we first create a dataset comprising different molecules and solvents, which is collected in a real-world chemistry laboratory. We then evaluated our method on the data recorded through an eye-in-hand camera mounted on a seven degree-of-freedom robotic manipulator, and show that our model can achieve 99.13% test accuracy across various setups, while being simple and fast to train and, as a result, easily transferable to a robotic platform.