RoMaViD: Learning Robotic Manipulation from Video Demonstrations

Large-scale manufacturing necessitates automation, and robotic automation has emerged as a primary solution. Traditionally, robotic systems are designed for fixed assembly lines dedicated to specific product sets. However, with an increasing demand for specialized and customized products, there is a...

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Vydáno v:2024 IEEE/ACM 6th International Workshop on Robotics Software Engineering (RoSE) s. 17 - 24
Hlavní autoři: Upadhyay, Abhinav, Dubey, Alpana, Sengupta, Shubhashis
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: ACM 15.04.2024
Témata:
Automation
Learning from Demonstration
Object oriented modeling
Plan Generation
Planning
Pose estimation
Robotic assembly
Task analysis
Transformers
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Shrnutí:Large-scale manufacturing necessitates automation, and robotic automation has emerged as a primary solution. Traditionally, robotic systems are designed for fixed assembly lines dedicated to specific product sets. However, with an increasing demand for specialized and customized products, there is a growing need for more agile manufacturing processes. To address this, we introduce a robotic assembly framework capable of generating assembly plans directly from RGB-D video demonstrations. We develop a pose estimation model to capture changes in object poses. We demonstrate its effectiveness in the robotic assembly of IKEA furniture, emphasizing its precision in managing assembly tasks.CCS CONCEPTS* Computing methodologies → Robotic planning; Vision for robotics; Activity recognition and understanding.
DOI:10.1145/3643663.3643966