Related papers: Meta-learning enhanced adaptive robot control stra…
Printed Circuit boards (PCBs) are one of the most important stages in making electronic products. A small defect in PCBs can cause significant flaws in the final product. Hence, detecting all defects in PCBs and locating them is essential.…
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…
In this work, a highly customizable and scalable vision based system for automation of mechanical assembly lines is described. The proposed system calculates the features that are required to classify and identify the different kinds of…
In this paper, we introduce an approach for detecting modifications in assembled printed circuit boards based on photographs taken without tight control over perspective and illumination conditions. One instance of this problem is the…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
The usage of electronic devices increases, and becomes predominant in most aspects of life. Surface Mount Technology (SMT) is the most common industrial method for manufacturing electric devices in which electrical components are mounted…
A central goal of meta-learning is to find a learning rule that enables fast adaptation across a set of tasks, by learning the appropriate inductive bias for that set. Most meta-learning algorithms try to find a \textit{global} learning…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
This paper provides a comprehensive review of mechanical equipment fault diagnosis methods, focusing on the advancements brought by Transformer-based models. It details the structure, working principles, and benefits of Transformers,…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Today's robots often interface with data-driven perception and planning models with classical model-predictive controllers (MPC). Often, such learned perception/planning models produce erroneous waypoint predictions on out-of-distribution…
This paper introduces a new approach for quickly adapting a multi-view visuomotor system for robots to varying camera configurations from the baseline setup. It utilises meta-learning to fine-tune the perceptual network while keeping the…
Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…