Fig 2 - uploaded by Yuliang Ma
Content may be subject to copyright.
Real-world scenario and manipulation failures.
Source publication
Due to the increasing behavioral and structural complexity of robots, it is challenging to predict the execution outcome after error detection. Anomaly detection methods can help detect errors and prevent potential failures. However, not every fault leads to a failure due to the system's fault tolerance or unintended error masking. In practical app...
Context in source publication
Context 1
... System (ROS) as the middleware. The manipulation task is defined as a 'Color Match Game' scenario in which the manipulator picks the cube and places it onto the plate with the corresponding color. Due to the fact that images are not always clear in many applications [5], we inject faulty images in this manipulation task and observe failures. Fig. 2 shows the real-world set up and actual failure scenarios that we observed. The proposed framework predicts the probability of failure based on faulty images and fused information. Our main contributions can be summarized as ...
