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Robots with the ability to actively acquire power from surroundings will begreatly beneficial for long-term autonomy and to survive in uncertainenvironments. In this work, we present a robot capable of drawing circuits withconductive ink while also rearranging the visual world to receive maximumenergy from a power source. A range of circuit drawing tasks is designed tosimulate real-world scenarios, including avoiding physical obstacles andregions that would discontinue drawn circuits. We adopt the state-of-the-artTransporter networks for pick-and-place manipulation from visual observation.We conduct experiments in both simulation and real-world settings, and ourresults show that, with a small number of demonstrations, the robot learns torearrange the placement of objects (removing obstacles and bridging areasunsuitable for drawing) and to connect a power source with a minimum amount ofconductive ink. As autonomous robots become more present, in our houses andother planets, our proposed method brings a novel way for machines to keepthemselves functional by rearranging their surroundings to create their ownelectric circuits.

Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing