Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World
Liang Xie,Hongxiang Yu,Yinghao Zhao,Haodong Zhang,Zhongxiang Zhou,Minhang Wang,Yue Wang,Rong Xiong,Liang Xie,Hongxiang Yu,Yinghao Zhao,Haodong Zhang,Zhongxiang Zhou,Minhang Wang,Yue Wang,Rong Xiong
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human's behavior, we design architectures with position and orientation estimators based on the seam representation for pose alignment, which proves to be general to the unseen peg geometries. By putting the estimators into the closed-loo...
