SharedAssembly: A Data Collection Approach via Shared Tele-Assembly
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | |
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| _version_ | 1866929761644707840 |
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| author | Wu, Yansong Chen, Xiao Chen, Yu Sadeghian, Hamid Wu, Fan Bing, Zhenshan Haddadin, Sami König, Alexander Knoll, Alois |
| author_facet | Wu, Yansong Chen, Xiao Chen, Yu Sadeghian, Hamid Wu, Fan Bing, Zhenshan Haddadin, Sami König, Alexander Knoll, Alois |
| contents | Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly tasks. To bridge this gap, we introduce SharedAssembly, a novel bilateral teleoperation approach with shared autonomy for scalable assembly execution and data collection. User studies demonstrate that the proposed approach enhances both success rates and efficiency, achieving a 97.0% success rate across various sub-millimeter-level assembly tasks. Notably, novice and intermediate users achieve performance comparable to experts using baseline teleoperation methods, significantly enhancing large-scale data collection. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_12287 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SharedAssembly: A Data Collection Approach via Shared Tele-Assembly Wu, Yansong Chen, Xiao Chen, Yu Sadeghian, Hamid Wu, Fan Bing, Zhenshan Haddadin, Sami König, Alexander Knoll, Alois Robotics 68T40 I.2.9 Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly tasks. To bridge this gap, we introduce SharedAssembly, a novel bilateral teleoperation approach with shared autonomy for scalable assembly execution and data collection. User studies demonstrate that the proposed approach enhances both success rates and efficiency, achieving a 97.0% success rate across various sub-millimeter-level assembly tasks. Notably, novice and intermediate users achieve performance comparable to experts using baseline teleoperation methods, significantly enhancing large-scale data collection. |
| title | SharedAssembly: A Data Collection Approach via Shared Tele-Assembly |
| topic | Robotics 68T40 I.2.9 |
| url | https://arxiv.org/abs/2503.12287 |