Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning

Chahyon Ku,Carl Winge,Ryan Diaz,Wentao Yuan,Karthik Desingh,Chahyon Ku,Carl Winge,Ryan Diaz,Wentao Yuan,Karthik Desingh

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions, commonly referred to as a peg-in-hole task. The accuracy required to detect and orient the peg and the hole geometry in SE(3) space for successful assembly pose...