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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="Automating Deformable Gasket Assembly">
<meta name="keywords" content="DLO, Assembly, Robot">
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<title>Automating Deformable Gasket Assembly</title>
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<section class="hero">
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<h1 class="title is-1 publication-title">Automating Deformable Gasket Assembly</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://simeonoa.github.io">Simeon Adebola*</a><sup>1</sup>,</span>
<span class="author-block">
Tara Sadjadpour*</a><sup>1</sup>,</span>
<span class="author-block">
Karim El-Refai*</a><sup>1</sup>,
</span>
<span class="author-block">
Will Panitch</a><sup>1</sup>,
</span>
<span class="author-block">
Zehan Ma</a><sup>1</sup>,
</span>
<span class="author-block">
Roy Lin</a><sup>1</sup>,
</span>
<span class="author-block">
Tianshuang Qiu</a><sup>1</sup>
</span>
<span class="author-block">
Shreya Ganti</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.charlotte-le.com/">Charlotte Le</a><sup>1</sup>,
</span>
<span class="author-block">
Jaimyn Drake</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://goldberg.berkeley.edu"> Ken Goldberg</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>The AUTOLab at UC Berkeley</span>
<!-- <span class="author-block"><sup>2</sup>Google Research</span> -->
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>*</sup>Equal Contribution</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://ieeexplore.ieee.org/document/10711836"
class="external-link button is-normal is-rounded is-dark">
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<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2408.12593"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
<!-- <span class="link-block">
<a href="https://www.youtube.com/watch?v=MrKrnHhk8IA"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span> -->
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/BerkeleyAutomation/gasket-assembly"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Data Files Link. -->
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<a href="https://drive.google.com/drive/folders/1bCn82tG1PkO3P4eNvGwvZMNCeWVXfUbZ?usp=sharing"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fa fa-database"></i>
</span>
<span>Data</span>
</a>
</span>
<!-- CAD Files Link. -->
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<a href="https://drive.google.com/drive/folders/1czmuZkH3iPUkZDy59uo506SlzfmKG-Yc?usp=sharing"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>CAD Files</span>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="publication-body">
<div class="container is-max-desktop">
<div class="publication-body">
<img id="publication" autoplay muted loop playsinline height="100%">
<img src="./static/images/actuation_wide.png"
type="images/png">
</img>
<p>
The Gasket/Channel Detection box shows gasket segmentation (above) and channel segmentation (below).
The Template Matching box shows the three templates for the curved, straight and trapezoid channel.
The Straight/Curved Actuation box shows selection and actuation strategies for the straight and curved
channels: (a) is Unidirectional insertion, (b) is Binary search insertion, and (c) is Binary+ insertion.
The colors on the channels represent the locations the robot attempts to place and press
the gasket into while the numbers represent the order they are placed and
pressed. Endpoints are green, midpoints are pink, half-points are blue and
the quartile-points are cyan. The arrows indicate the direction(s) of the
slide(s). For the trapezoid channel, we treat each segment of the trapezoid
as an instance of the straight channel. In the unidirectional approach (d)
we process each segment in a counterclockwise manner, starting at the blue
segment. For hybrid and binary (e), we evaluate the blue segment, then the
cyan segments, and finally the red segment. The learned policy proceeds
directly from the initial state to actuation (f). The Final State box shows the
final assembled gasket.
</p>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
In <span class="dgask">Gasket Assembly</span>, 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. <span class="dgask">Gasket
Assembly</span> 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 <span class="dgask">Gasket Assembly</span>:
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.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Paper video. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe src="./static/videos/main-video.mp4"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
</div>
</div>
<!-- / Paper video. -->
</div>
</section>
<section class="publication-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="publication-body">
<h2 class="title is-3">Channel Types</h2>
<p>
We present three channel types: open straight, open curved and closed trapezoid. See the link at page top for CAD files.
</p>
<img id="publication" autoplay muted loop playsinline height="100%">
<img src="./static/images/channels_bigger2.png"
type="images/png">
</img>
<p>
Each channel is shown here with a gasket fully inserted. The straight channel (A) and the curved channel (B) are both open-ended channels whereas
the trapezoid channel (C) is closed. This means that for all channels, the gasket endpoints (g0, g1) and channel endpoints (c0, c1)
lie nearly on top of each other, but in the trapezoid case, c0 and c1 also lie nearly on top of each other
</p>
</div>
</div>
</div>
</section>
<br>
<br>
<br>
<section class="publication-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="publication-body">
<h2 class="title is-3">Physical Trials & Results</h2>
<p>
We carry out 100 physical trials: 10 for the learned diffusion policy on the straight channel,
10 for each procedural algorithm on each channel: straight, curved and trapezoid.
</p>
<img id="publication" autoplay muted loop playsinline height="100%">
<img src="./static/images/alignment_and_insertion.png"
type="images/png">
</img>
<p><span class = "bold">Alignment Results and Insertion Results for all four approaches: learned diffusion mode, unidirectional, binary search and Binary+.
</span></p>
</div>
</div>
</div>
</section>
<!-- <section class="publication-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="publication-body">
<img id="publication" autoplay muted loop playsinline height="100%">
<img src="./static/images/insertion_results.png"
type="images/png">
</img>
<p> <b>
Insertion Results for all four approaches: learned diffusion mode, unidirectional, binary search and hybrid.
</b></p>
</div>
</div>
</div>
</section> -->
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- Diffusion Success. -->
<div class="column">
<div class="content">
<h2 class="title is-4">Learned Diffusion Policy (Success)</h2>
<p>
The learned diffusion policy successfully carrying out the task on the straight channel. Trial time was for a maximum of 10 minutes
</p>
<video id="diffsucc" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/ldiff_succ.mp4"
type="video/mp4">
</video>
</div>
</div>
<!--/ Diffusion Success. -->
<!-- Diffusion Failure. -->
<div class="column">
<h2 class="title is-4">Learned Diffusion Policy (Failure)</h2>
<div class="columns is-centered">
<div class="column content">
<p>
The learned diffusion policy failing to complete the task on the straight channel. Trial time was for a maximum of 10 minutes
</p>
<video id="difffail" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/ldiff_fail.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<!--/ Diffusion Failure. -->
<div class="columns is-centered">
<!-- Unidirectional Success. -->
<div class="column">
<div class="content">
<h2 class="title is-4">Unidirectional Algorithm (Success)</h2>
<p>
The unidirectional algorithm successfully carrying out the task on the straight channel. Trial time was for a maximum of 3 minutes 30 seconds.
</p>
<video id="uni_str_succ" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/uni_str_succ.mp4"
type="video/mp4">
</video>
</div>
</div>
<!--/ Unidirectional Success. -->
<!-- Unidirectional Failure. -->
<div class="column">
<h2 class="title is-4">Unidirectional Algorithm (Failure)</h2>
<div class="columns is-centered">
<div class="column content">
<p>
The unidirectional algorithm failing to complete the task on the straight channel. Trial time was for a maximum of 3 minutes 30 seconds.
</p>
<video id="uni_str_fail" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/uni_str_fail.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<!--/ Unidirectional Failure. -->
<!-- Binary Success. -->
<div class="container is-max-desktop">
<h2 class="title is-4">Binary Search Algorithm (Success)</h2>
<div class="columns is-centered has-text-centered">
<div class="publication-body">
<p>
The binary search algorithm successfully completes the task on the curved channel. Trial time was for a maximum of 3 minutes 30 seconds.
</p>
<video id="bin_curv_succ" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/bin_curv_succ.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
<!-- Binary Success. -->
</div>
</section>
<section class="publication-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="publication-body">
<h2 class="title is-3 has-text-centered is-bold">Appendix</h2>
<ol type="A">
<li>
<!-- <h3 id="human-demonstrations">Human Demonstrations</h3> -->
<strong>Human Demonstrations</strong>
<p>Human demonstrations are collected as follows:</p>
<ol>
<li>The channel is fixed in place horizontally across the workspace, separating the workspace into a lower and upper section.</li>
<li>The gasket is randomly dropped in either the lower or upper section so that it does not overlap itself and does not touch the channel.</li>
<li>The midpoint of the gasket is grasped and placed on top of the midpoint of the channel. The gripper then presses the gasket down into the channel.</li>
<li>One endpoint of the channel is chosen arbitrarily. The gasket is placed on top of the selected endpoint of the channel and pressed down into the channel.</li>
<li>The remaining endpoint of the gasket is then placed on top of the other endpoint of the channel and pressed to insert it into the channel.</li>
<li>The gripper is moved to the quartile points (the order of the quartile points the gripper goes to is chosen arbitrarily) and pressed down on the gasket such that at those points the gasket is inserted into the channel.</li>
<li>The gripper goes to the 'eighth' points (again the order of the points the gripper goes to is chosen arbitrarily) and presses down on the gasket such that at those points the gasket is inserted into the channel.</li>
<li>The gripper goes to the midpoint of the gasket, moves down slowly to the channel surface such that the gripper touches the channel surface, and moves horizontally with no vertical movement towards one of the endpoints of the channel (chosen arbitrarily). The gripper returns to the midpoint of the channel and repeats this motion towards the other endpoint of the channel. This 8-step procedure is repeated for each human demonstration.</li>
</ol>
</li>
<br>
<li>
<!-- <h3 id="experimental-evaluation-metrics-breakdown">Experimental Evaluation Metrics Breakdown</h3> -->
<strong>Experimental Evaluation Metrics Breakdown</strong>
<p>After the robot execution has terminated, a human judge visually rates performance into one of four alignments categories, as follows:</p>
<ol>
<li><strong>0% - 25%:</strong> A <strong>major alignment failure</strong>, in which the robot has successfully aligned <strong>less than 25%</strong> of the gasket with the channel.</li>
<li><strong>25% - 50%:</strong> A <strong>partial alignment failure</strong>, in which <strong>between 25% and 50%</strong> of the gasket has been successfully aligned.</li>
<li><strong>50% - 75%:</strong> A <strong>partial alignment success</strong>, in which <strong>between 50% and 75%</strong> of the gasket has been properly aligned.</li>
<li><strong>75% - 100%:</strong> A <strong>full alignment success</strong>, in which the robot has properly aligned <strong>at least 75%</strong> of the gasket length with the channel.</li>
</ol>
<br>
<p>Similarly, a human judge visually rates performance into one of four insertion categories, as follows:</p>
<ol>
<li><strong>0% - 25%:</strong> A <strong>major insertion failure</strong>, in which <strong>less than 25%</strong> of the gasket is inserted into the channel.</li>
<li><strong>25% - 50%:</strong> A <strong>partial insertion failure</strong>, in which <strong>between 25% and 50%</strong> of the gasket is inserted.</li>
<li><strong>50% - 75%:</strong> A <strong>partial insertion success</strong>, in which <strong>between 50% and 75%</strong> of the gasket is inserted.</li>
<li><strong>75% - 100%:</strong> A <strong>full insertion success</strong>, in which <strong>at least 75%</strong> of the gasket length is inserted.</li>
</ol>
</li>
<p> </p>
<p>Figure 4 shows qualitative results from the trials of the three analytical algorithms in increasing order of success.</p>
<br>
<p><img src="./static/images/eval_updated.001.png" alt="Evaluation Metrics"></p>
<p>Fig. 4: <b>Evaluation Metric Examples.</b> We provide examples for all four
categories of the alignment and insertion evaluation metrics discussed in
Section V-D. We show the final gasket and channel states after the robot
attempts gasket assembly. For alignment we only consider the view from the
overhead camera to determine alignment between the gasket and channel.
To determine the snug fit of the insertion, we consult both the overhead
view (top row) and the front view (bottom row), because (f), for example,
shows how a gasket that is aligned with the channel can have poor insertion.</p>
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Interpolating.
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We can also animate the scene by interpolating the deformation latent codes of two input
frames. Use the slider here to linearly interpolate between the left frame and the right
frame.
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If you use this work or our dataset or find it helpful, please consider citing: (bibtex)
<pre><code>
@inproceedings{gasketassembly2024,
author = {Adebola, Simeon* and Sadjadpour, Tara* and El-Refai, Karim* and Panitch, Will and Ma, Zehan
and Lin, Roy and Qiu, Tianshuang and Ganti, Shreya and Le, Charlotte and Drake, Jaimyn and Goldberg, Ken},
title = {Automating Deformable Gasket Assembly},
journal = {CASE},
year = {2024},
}</code></pre>
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