Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores

To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with added stochastic noise to yield robustness scores-the success probabilities of planned assembly motions. As running a simulation for every assembly motion is impractical, we train a convolutional neural network to map assembly operations, given as an image pair of the subassemblies before and after they are mated, to a robustness score. The neural network prediction is used within a planner to quickly prune out motions that are not robust. We demonstrate this approach on two-handed planar assemblies, where the motions are onestep linear translations. Results suggest that the neural network can learn robustness to plan robust sequences an order of magnitude faster than simulation.