Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Xinghao Zhu,Devesh K. Jha,Diego Romeres,Lingfeng Sun,Masayoshi Tomizuka,Anoop Cherian,Xinghao Zhu,Devesh K. Jha,Diego Romeres,Lingfeng Sun,Masayoshi Tomizuka,Anoop Cherian
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which is limited to target segmentation, pose regression, or using fixed target blueprints, our work presents a holistic multi-level framework for part assembly planning consisting of part assembly sequence inference, part mo...
