学習スコアを用いた幾何学的計画によるロバストな2D組立順序決定
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores
Box2Dシミュレータで学習したCNNで組立動作のロバスト性を予測し、幾何学的計画と組み合わせて2D組立の順序を高速かつロバストに計画する手法を提案した。
著者: Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin
分類: cs.RO
原文アブストラクト
To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with added stochastic noise to yield robustness scores--the success probabilities of planned assembly motions. As running a simulation for every assembly motion is impractical, we train a convolutional neural network to map assembly operations, given as an image pair of the subassemblies before and after they are mated, to a robustness score. The neural network prediction is used within a planner to quickly prune out motions that are not robust. We demonstrate this approach on two-handed planar assemblies, where the motions are one-step translations. Results suggest that the neural network can learn robustness to plan robust sequences an order of magnitude faster than physics simulation.
