Automating Deformable Gasket Assembly
<|reference_start|>Automating Deformable Gasket Assembly: In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a long-horizon, high-precision task and the gasket must align with the channel and be fully pressed in to achieve a secure fit. To compare approaches, we present 4 methods for Gasket Assembly: one policy from deep imitation learning and three procedural algorithms. We evaluate these methods with 100 physical trials. Results suggest that the Binary+ algorithm succeeds in 10/10 on the straight channel whereas the learned policy based on 250 human teleoperated demonstrations succeeds in 8/10 trials and is significantly slower. Code, CAD models, videos, and data can be found at https://berkeleyautomation.github.io/robot-gasket/<|reference_end|>
@article{adebola2024automating,
    title={Automating Deformable Gasket Assembly},
    author={Simeon Adebola, Tara Sadjadpour, Karim El-Refai, Will Panitch, Zehan
  Ma, Roy Lin, Tianshuang Qiu, Shreya Ganti, Charlotte Le, Jaimyn Drake and Ken
  Goldberg},
    journal={arXiv preprint arXiv:2408.12593},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.12593},
    primaryClass={cs.RO cs.CV}
}