Proposed human-in-the-loop assembly (IMAGE)

Columbia University School of Engineering and Applied Science

Proposed human-in-the-loop assembly

Caption

The proposed human-in-the-loop assembly system consists of three major components: (1) A perception system that senses the robot worksite and converts it into a visual physical scene representation, where each object is represented with its 3D model and relevant physical attributes. (2) A 3D VR user interface that allows a human operator to specify the assembly goal by manipulating these virtual 3D models. (3) A goal-driven deep reinforcement learning algorithm that infers an effective low-level planning policy given the assembly goal and the robot hardware configuration. This algorithm is also able to infer its probability of success and use it to determine when to request human assistance.

Credit

Shuran Song/Columbia Engineering

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Please credit as: Shuran Song/Columbia Engineering

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