INSPECT: Learning Robot View Selection from Assistant Use
Robots inspecting an assembly must determine which parts are present and whether they are correctly installed. During egocentric assembly assistance, head motion and workpiece handling reveal evidence for these checks, while spoken state confirmations link observations to procedural outcomes. We introduce INSPECT, which learns robot view preferences from records of a smart-glasses assistant that answers part queries and provides next-step guidance. Presence-Invariant TwinSwap (PI-TwinSwap) calibrates object evidence through paired identity interventions. Claim-indexed supervision separates evidence requirements from camera-reproducible observation changes. Object-centered calibration adap...
| Authors | Di Wen, Kailun Yang, Wenhao Guo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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