---
_id: '14042'
abstract:
- lang: eng
text: "This paper investigates co-creativity in architectural robotics through\r\na
design-research experiment that repositions the robot from a fabrication tool\r\nto
an active collaborator in spatial exploration. A turn-based assembly process\r\nenables
a human designer and a robotic arm to alternately place modular bricks\r\nwithin
a shared three-dimensional environment. Each move is evaluated through\r\ncomputational
rules—support, stability, and collision—and interpreted in real\r\ntime via an
AI image-to-image diffusion model. This sequential exchange\r\nestablishes a reciprocal
design dialogue: the human reads the robot’s action as\r\na spatial proposition,
while the robot responds to the evolving structure.\r\nCreative agency becomes
distributed across human and machine, encouraging\r\nreflection on intent and
positioning robotic intelligence as a source of suggestion\r\nrather than execution.
By prioritizing responsiveness and interpretation over\r\nefficiency, the research
challenges conventional file-to-factory paradigms and\r\nframes robotics as an
active participant in design thinking. It contributes to\r\ndiscussions on human–machine
collaboration by proposing co-creative robotics\r\nas a framework for rethinking
authorship in architecture.\r\nKeywords. Human–robot Collaboration, Co-Creation,
Computational\r\nCreativity, Robotic Fabrication, Artificial Intelligence, Digital
Fabrication,\r\nGenerative Models, Discrete Assembly, Human–Machine Interaction."
author:
- first_name: Hans
full_name: Sachs, Hans
id: '64589'
last_name: Sachs
- first_name: Yusuf
full_name: Aykin, Yusuf
id: '84542'
last_name: Aykin
- first_name: Victor
full_name: Sardenberg, Victor
last_name: Sardenberg
- first_name: Bo
full_name: Schneider, Bo
id: '86766'
last_name: Schneider
citation:
ama: Sachs H, Aykin Y, Sardenberg V, Schneider B. Co-Creative Robotics Turn-Based
Human–Robot Assembly for Architectural Design Exploration. Vol 44. 1st ed.
(eCAADe eCaade, ed.). CumInCAD; 2026:357-366.
apa: Sachs, H., Aykin, Y., Sardenberg, V., & Schneider, B. (2026). Co-Creative
Robotics Turn-Based Human–Robot Assembly for Architectural Design Exploration.
In eCaade eCAADe (Ed.), eCAADe 2026 - Informed creativity in architecture
and engineering (1st ed., Vol. 44, pp. 357–366). CumInCAD.
bjps: 'Sachs H et al. (2026) Co-Creative Robotics Turn-Based Human–Robot
Assembly for Architectural Design Exploration, 1st ed., eCAADe eCaade (ed.).
CumInCAD: CumInCAD.'
chicago: 'Sachs, Hans, Yusuf Aykin, Victor Sardenberg, and Bo Schneider. Co-Creative
Robotics Turn-Based Human–Robot Assembly for Architectural Design Exploration.
Edited by eCaade eCAADe. ECAADe 2026 - Informed Creativity in Architecture
and Engineering. 1st ed. Vol. 44. 2. CumInCAD: CumInCAD, 2026.'
chicago-de: 'Sachs, Hans, Yusuf Aykin, Victor Sardenberg und Bo Schneider. 2026.
Co-Creative Robotics Turn-Based Human–Robot Assembly for Architectural Design
Exploration. Hg. von eCaade eCAADe. eCAADe 2026 - Informed creativity in
architecture and engineering. 1. Aufl. Bd. 44. 2. CumInCAD: CumInCAD.'
din1505-2-1: 'Sachs, Hans ; Aykin, Yusuf ; Sardenberg,
Victor ; Schneider, Bo ;
eCAADe, eCaade (Hrsg.): Co-Creative
Robotics Turn-Based Human–Robot Assembly for Architectural Design Exploration,
2. Bd. 44. 1. Aufl. CumInCAD : CumInCAD, 2026'
havard: H. Sachs, Y. Aykin, V. Sardenberg, B. Schneider, Co-Creative Robotics Turn-Based
Human–Robot Assembly for Architectural Design Exploration, 1st ed., CumInCAD,
CumInCAD, 2026.
ieee: 'H. Sachs, Y. Aykin, V. Sardenberg, and B. Schneider, Co-Creative Robotics
Turn-Based Human–Robot Assembly for Architectural Design Exploration, 1st
ed., vol. 44. CumInCAD: CumInCAD, 2026, pp. 357–366.'
mla: Sachs, Hans, et al. “Co-Creative Robotics Turn-Based Human–Robot Assembly for
Architectural Design Exploration.” ECAADe 2026 - Informed Creativity in Architecture
and Engineering, edited by eCaade eCAADe, 1st ed., vol. 44, CumInCAD, 2026,
pp. 357–66.
short: H. Sachs, Y. Aykin, V. Sardenberg, B. Schneider, Co-Creative Robotics Turn-Based
Human–Robot Assembly for Architectural Design Exploration, 1st ed., CumInCAD,
CumInCAD, 2026.
ufg: 'Sachs, Hans u. a.: Co-Creative Robotics Turn-Based Human–Robot Assembly
for Architectural Design Exploration, Bd. 44, hg. von eCAADe, eCaade, CumInCAD
12026 (2).'
van: 'Sachs H, Aykin Y, Sardenberg V, Schneider B. Co-Creative Robotics Turn-Based
Human–Robot Assembly for Architectural Design Exploration. 1st ed. eCAADe eCaade,
editor. eCAADe 2026 - Informed creativity in architecture and engineering. CumInCAD:
CumInCAD; 2026. (2; vol. 44).'
conference:
end_date: 11.09.2026
location: Lübeck
name: eCAADe (44th)
start_date: 07.09.2026
date_created: 2026-09-17T15:06:05Z
date_updated: 2026-09-17T15:06:14Z
ddc:
- '600'
department:
- _id: DEP1055
edition: '1'
editor:
- first_name: eCaade
full_name: eCAADe, eCaade
last_name: eCAADe
file:
- access_level: open_access
content_type: application/pdf
creator: fpq-3n9
date_created: 2026-09-17T15:05:07Z
date_updated: 2026-09-17T15:05:07Z
file_id: '14043'
file_name: ecaade2026_93.pdf
file_size: 4192370
relation: main_file
success: 1
file_date_updated: 2026-09-17T15:05:07Z
has_accepted_license: '1'
intvolume: ' 44'
keyword:
- Co Creative Robots
- Collaborative Robots
- Design
- Architecture
language:
- iso: eng
oa: '1'
page: 357-366
place: CumInCAD
publication: eCAADe 2026 - Informed creativity in architecture and engineering
publication_status: published
publisher: CumInCAD
quality_controlled: '1'
related_material:
link:
- relation: research_paper
url: https://papers.cumincad.org/cgi-bin/works/paper/ecaade2026_93
series_title: '2'
status: public
title: Co-Creative Robotics Turn-Based Human–Robot Assembly for Architectural Design
Exploration
type: conference_editor_article
user_id: '64589'
volume: 44
year: '2026'
...
---
_id: '14036'
abstract:
- lang: eng
text: "This paper presents a robotic system developed to enhance\r\nautomation in
construction workflows through advanced AI\r\nand computer vision technologies.
The system integrates\r\na robotic arm with a 3D point cloud camera and state-\r\nof-the-art
2D pre-trained Deep Learning models, such as\r\nGroundingDINO and SegmentAnything,
to detect and seg-\r\nment construction elements in 3D dynamic, unstructured\r\nenvironments.
By processing point cloud data from the cam-\r\nera and aligning it with real-world
coordinates, the system\r\nachieves precise object localization, enabling tasks
such as\r\nelement handling and assembly. Designed to address chal-\r\nlenges
like clutter, occlusion, and variability in construction\r\nsites, this system
bridges the gap between controlled labora-\r\ntory conditions and real-world applications.
Experimental\r\nevaluations highlight its potential to improve efficiency and\r\nadaptability
in construction tasks."
author:
- first_name: Yusuf
full_name: Aykin, Yusuf
id: '84542'
last_name: Aykin
- first_name: Hans
full_name: Sachs, Hans
id: '64589'
last_name: Sachs
- first_name: Nikolai
full_name: Gerzen, Nikolai
id: '76704'
last_name: Gerzen
citation:
ama: 'Aykin Y, Sachs H, Gerzen N. Enhancing Robotic Vision through Deep Learning
Techniques: From Detection to Construction. (Sachs H, ed.). International
Association for Automation and Robotics in Construction (IAARC); 2025. doi:10.22260/isarc2025/0026'
apa: 'Aykin, Y., Sachs, H., & Gerzen, N. (2025). Enhancing Robotic Vision through
Deep Learning Techniques: From Detection to Construction. In H. Sachs (Ed.), Proceedings
of the International Symposium on Automation and Robotics in Construction (IAARC).
International Association for Automation and Robotics in Construction (IAARC).
https://doi.org/10.22260/isarc2025/0026'
bjps: 'Aykin Y, Sachs H and Gerzen N (2025) Enhancing Robotic Vision through
Deep Learning Techniques: From Detection to Construction, Sachs H (ed.). International
Association for Automation and Robotics in Construction (IAARC).'
chicago: 'Aykin, Yusuf, Hans Sachs, and Nikolai Gerzen. Enhancing Robotic Vision
through Deep Learning Techniques: From Detection to Construction. Edited by
Hans Sachs. Proceedings of the International Symposium on Automation and Robotics
in Construction (IAARC). International Association for Automation and Robotics
in Construction (IAARC), 2025. https://doi.org/10.22260/isarc2025/0026.'
chicago-de: 'Aykin, Yusuf, Hans Sachs und Nikolai Gerzen. 2025. Enhancing Robotic
Vision through Deep Learning Techniques: From Detection to Construction. Hg.
von Hans Sachs. Proceedings of the International Symposium on Automation and
Robotics in Construction (IAARC). International Association for Automation
and Robotics in Construction (IAARC). doi:10.22260/isarc2025/0026,
.'
din1505-2-1: 'Aykin, Yusuf ; Sachs, Hans ; Gerzen,
Nikolai ; Sachs, H. (Hrsg.):
Enhancing Robotic Vision through Deep Learning Techniques: From Detection to
Construction : International Association for Automation and Robotics in Construction
(IAARC), 2025'
havard: 'Y. Aykin, H. Sachs, N. Gerzen, Enhancing Robotic Vision through Deep Learning
Techniques: From Detection to Construction, International Association for Automation
and Robotics in Construction (IAARC), 2025.'
ieee: 'Y. Aykin, H. Sachs, and N. Gerzen, Enhancing Robotic Vision through Deep
Learning Techniques: From Detection to Construction. International Association
for Automation and Robotics in Construction (IAARC), 2025. doi: 10.22260/isarc2025/0026.'
mla: 'Aykin, Yusuf, et al. “Enhancing Robotic Vision through Deep Learning Techniques:
From Detection to Construction.” Proceedings of the International Symposium
on Automation and Robotics in Construction (IAARC), edited by Hans Sachs,
International Association for Automation and Robotics in Construction (IAARC),
2025, https://doi.org/10.22260/isarc2025/0026.'
short: 'Y. Aykin, H. Sachs, N. Gerzen, Enhancing Robotic Vision through Deep Learning
Techniques: From Detection to Construction, International Association for Automation
and Robotics in Construction (IAARC), 2025.'
ufg: 'Aykin, Yusuf/Sachs, Hans/Gerzen, Nikolai: Enhancing Robotic Vision
through Deep Learning Techniques: From Detection to Construction, hg. von Sachs,
Hans, o. O. 2025.'
van: 'Aykin Y, Sachs H, Gerzen N. Enhancing Robotic Vision through Deep Learning
Techniques: From Detection to Construction. Sachs H, editor. Proceedings of the
International Symposium on Automation and Robotics in Construction (IAARC). International
Association for Automation and Robotics in Construction (IAARC); 2025.'
date_created: 2026-09-17T14:27:18Z
date_updated: 2026-09-17T14:43:42Z
ddc:
- '600'
department:
- _id: DEP1055
doi: 10.22260/isarc2025/0026
editor:
- first_name: Hans
full_name: Sachs, Hans
id: '64589'
last_name: Sachs
file:
- access_level: open_access
content_type: application/pdf
creator: fpq-3n9
date_created: 2026-09-17T14:43:28Z
date_updated: 2026-09-17T14:43:28Z
file_id: '14039'
file_name: ISARC_Robotic_Vision_Yusuf_Aykin.pdf
file_size: 4708066
relation: main_file
success: 1
file_date_updated: 2026-09-17T14:43:28Z
has_accepted_license: '1'
keyword:
- Computer Vision
- Architecture
- Building Construction
- Robotics in Construction
language:
- iso: eng
oa: '1'
publication: Proceedings of the International Symposium on Automation and Robotics
in Construction (IAARC)
publication_identifier:
issn:
- 2413-5844
publication_status: published
publisher: International Association for Automation and Robotics in Construction (IAARC)
quality_controlled: '1'
status: public
title: 'Enhancing Robotic Vision through Deep Learning Techniques: From Detection
to Construction'
type: conference_editor_article
user_id: '64589'
year: '2025'
...