Using Visual Anomaly Detection for Task Execution Monitoring
Santosh Thoduka,Juergen Gall,Paul G. Plöger,Santosh Thoduka,Juergen Gall,Paul G. Plöger
Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime. Our method learns to predict the motions that occur during the nominal execution of a task, including camera and robot body motion. A probabilistic U-Net architec...
