PVRA: A Pointwise Key-point Voting Framework for Robotic Assembly
Modern computer vision has enabled partial autonomy in robotic assembly manipulation. However, performing autonomous manipulation of a progressive assembly demands a more specific set of skills, in addition to perceiving the objects. Through a comparative analysis of research in the associated domains, we deduce that object-centric perception must advance towards learning assembly dependencies to predict meaningful actionable outputs for autonomous assembly manipulation. Subsequently, we present a 3D keypoint-based modular learning framework to learn assembly dependencies to infer actionable outputs given a RGB-D input of an assembly scene. We train and evaluate our trained network on an ...
| Authors | Kulunu Samarawickrama, Roel Pieters |
|---|---|
| Primary category | cs.RO |
| Published | 20 August 2026 |
| Last updated at source | 20 August 2026 |
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