Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments

• URL: http://arxiv.org/abs/2207.07524v1
• Date: Fri, 15 Jul 2022 15:16:08 GMT
• Title: Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
• Authors: Benjamin Alt, Darko Katic, Rainer J\"akel and Michael Beetz
• Abstract summary: Even relatively simple peg-in-hole tasks are typically subject to variations, requiring search motions to find relevant features such as holes. This paper introduces an automatic, data-driven and conditioning-free approach to optimize search strategies. We evaluate our approach on two different industrial robots in the context of spiral and probe search for THT electronics assembly.
• Score: 13.622757453459748
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic variations, requiring search motions to find relevant features such as holes. While search improves robustness, it comes at the cost of increased runtime: More exhaustive search will maximize the probability of successfully executing a given task, but will significantly delay any downstream tasks. This trade-off is typically resolved by human experts according to simple heuristics, which are rarely optimal. This paper introduces an automatic, data-driven and heuristic-free approach to optimize robot search strategies. By training a neural model of the search strategy on a large set of simulated stochastic environments, conditioning it on few real-world examples and inverting the model, we can infer search strategies which adapt to the time-variant characteristics of the underlying probability distributions, while requiring very few real-world measurements. We evaluate our approach on two different industrial robots in the context of spiral and probe search for THT electronics assembly.

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