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Conference Paper
Anomaly Detection for Robotic Assembly
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- Authors
- Hyejin S. Kim, In Jun Park, Hyonyoung Han, Ji Yeon Son
- Issue Date
- 2022-10
- Citation
- International Conference on Information and Communication Technology Convergence (ICTC) 2022, pp.1667-1670
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- Anomaly detection has developed by leaps and bounds thanks to the rapid development of computer vision in many industrial and robotic applications. In this paper, we address an anomaly detection method for assembly tasks using a robot manipulator based on deep reinforcement learning. The anomaly detection method provides reward values for reinforcement learning to estimate the assembly state: the task's success or failure. Our assembly tasks are three: Snap-fit, Peg-in-hole, and Snap-fit. Our approach is a task-agnostic method. We achieved 99.13% accuracy with 0.9799 precision, 0.9946 recall and 0.9986 AUROC based on our dataset.
- KSP Keywords
- Computer Vision(CV), Deep reinforcement learning, Detection Method, Leaps and bounds, Peg-in-hole, Rapid development, Reinforcement Learning(RL), Robot manipulator, Robotic assembly, anomaly detection, robotic applications