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EUPHORIA: Efficient Universal Planning via Hybrid Optimization for Robust Industrial Robotic Assembly

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Shih-Yu Lai, Chia-Ching Yen, Yang-Ting Shen, Peter Yichen Chen, Yu-Lun Liu, Bing-Yu Chen

๐Ÿ’ก ๊ฐœ์š”

๋ณธ ๋…ผ๋ฌธ์€ ๋ณต์žกํ•˜๊ณ  ๋‹ค์–‘ํ•œ ์‚ฐ์—…์šฉ ๋กœ๋ด‡ ์กฐ๋ฆฝ ์ž‘์—…์—์„œ ๋ฐœ์ƒํ•˜๋Š” ๋ฒ”์šฉ์„ฑ ๋ฐ ํšจ์œจ์„ฑ ๋ถ€์กฑ ๋ฌธ์ œ๋ฅผ ํ•ด๊ฒฐํ•˜๊ธฐ ์œ„ํ•ด EUPHORIA๋ผ๋Š” ํ†ตํ•ฉ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. EUPHORIA๋Š” ๋ฉ”ํƒ€ ํ•™์Šต ๊ธฐ๋ฐ˜์˜ ๊ธฐํ•˜ํ•™์  ์ธ์ฝ”๋”์™€ ๋ฌผ๋ฆฌ ์ •๋ณด๊ฐ€ ํ†ตํ•ฉ๋œ ๊ทธ๋ž˜ํ”„ ํŠธ๋žœ์Šคํฌ๋จธ๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์ƒˆ๋กœ์šด ๊ธฐํ•˜ํ•™์  ๊ตฌ์กฐ์— ๋Œ€ํ•œ ๋น ๋ฅธ ์ ์‘๊ณผ ๊ตฌ์กฐ์  ์•ˆ์ „์„ฑ์„ ๋ณด์žฅํ•˜๋ฉฐ, ๋™์ ์ธ ํšจ์œจ์„ฑ์„ ์œ„ํ•ด ์—๋„ˆ์ง€ ๊ธฐ๋ฐ˜ ๋™์ž‘ ๊ณ„ํš ๋ฐ Sim2Real ๋ณด์ • ๊ธฐ๋ฒ•์„ ๊ฒฐํ•ฉํ•ฉ๋‹ˆ๋‹ค. ์‹คํ—˜ ๊ฒฐ๊ณผ, EUPHORIA๋Š” ๊ธฐ์กด ๋ฐฉ๋ฒ• ๋Œ€๋น„ ์—๋„ˆ์ง€ ์†Œ๋น„๋ฅผ ์ค„์ด๊ณ , ๋ณด์ง€ ๋ชปํ•œ ๊ธฐํ•˜ํ•™์  ๊ตฌ์กฐ์—์„œ๋„ ๋†’์€ ์„ฑ๊ณต๋ฅ ์„ ๋‹ฌ์„ฑํ–ˆ์Šต๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

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๋ฉ”ํƒ€ ํ•™์Šต ๊ธฐ๋ฐ˜์˜ ๋น ๋ฅธ ์ ์‘์„ฑ: ๊ทธ๋ž˜ํ”ฝ ํ•˜์ดํผ๋„คํŠธ์›Œํฌ๋ฅผ ์ด์šฉํ•œ ๋ฉ”ํƒ€ ํ•™์Šต์„ ํ†ตํ•ด ์ƒˆ๋กœ์šด ๊ธฐํ•˜ํ•™์  ๊ตฌ์กฐ์— ๋Œ€ํ•ด ๊ธฐ์šธ๊ธฐ ๊ธฐ๋ฐ˜ ์žฌํ•™์Šต ์—†์ด๋„ ์ตœ์†Œํ•œ์˜ ์˜ˆ์‹œ๋งŒ์œผ๋กœ ์ •์ฑ… ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๋™์ ์œผ๋กœ ์ƒ์„ฑํ•˜์—ฌ ์ ์‘์„ฑ์„ ํ˜์‹ ์ ์œผ๋กœ ๋†’์˜€์Šต๋‹ˆ๋‹ค.
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๋ฌผ๋ฆฌ ์ •๋ณด ๊ธฐ๋ฐ˜์˜ ๊ตฌ์กฐ์  ์•ˆ์ „์„ฑ: ์ด์‚ฐ ์š”์†Œ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์˜ ์ ‘์ด‰๋ ฅ์„ ํ™œ์šฉํ•œ ๋ฌผ๋ฆฌ ์ •๋ณด ๊ฐ•ํ™” ๊ธฐ๋ฒ•์„ ํ†ตํ•ด ๊ตฌ์กฐ์ ์œผ๋กœ ์ค‘์š”ํ•œ ์—ฐ๊ฒฐ ๋ถ€์œ„๋ฅผ ์ธ์ง€ํ•˜๊ณ , ๋†’์€ ์—๋„ˆ์ง€ ์ „ํ™˜์„ ์–ต์ œํ•˜์—ฌ ๋”์šฑ ์•ˆ์ „ํ•˜๊ณ  ํšจ์œจ์ ์ธ ์กฐ๋ฆฝ ๊ฒฝ๋กœ๋ฅผ ์ƒ์„ฑํ•ฉ๋‹ˆ๋‹ค.
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Sim2Real ๊ฒฉ์ฐจ ํ•ด์†Œ ๋ฐ ์ข…ํ•ฉ์ ์ธ ์„ฑ๋Šฅ ํ–ฅ์ƒ: ์ž”์ฐจ ์•ˆ์ •์„ฑ ๊ต์ • ๊ธฐ๋ฒ•์„ ํ†ตํ•ด ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹ค์ œ ํ™˜๊ฒฝ ๊ฐ„์˜ ๋ถˆ์ผ์น˜๋ฅผ ์ค„์—ฌ ๋กœ๋ด‡ ์กฐ๋ฆฝ์˜ ์‹ค์šฉ์„ฑ์„ ๋†’์˜€์œผ๋ฉฐ, ๋ฉ”ํƒ€ ํ•™์Šต, ๋ฌผ๋ฆฌ ๊ธฐ๋ฐ˜ ์ฃผ์˜ ๋ฉ”์ปค๋‹ˆ์ฆ˜, ์ž”์ฐจ ์ตœ์ ํ™”๋ฅผ ํ†ตํ•ฉํ•˜์—ฌ ๋ฒ”์šฉ์ ์ด๊ณ  ๊ฐ•๊ฑดํ•œ ์กฐ๋ฆฝ ๊ณ„ํš ์„ฑ๋Šฅ์„ ๋‹ฌ์„ฑํ–ˆ์Šต๋‹ˆ๋‹ค.
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