AVR: Active Vision-Driven Robotic Precision Manipulation with Viewpoint and Focal Length Optimization
Journal:
arXiv
Published Date:
Mar 3, 2025
Abstract
Robotic manipulation within dynamic environments presents challenges to
precise control and adaptability. Traditional fixed-view camera systems face
challenges adapting to change viewpoints and scale variations, limiting
perception and manipulation precision. To tackle these issues, we propose the
Active Vision-driven Robotic (AVR) framework, a teleoperation hardware solution
that supports dynamic viewpoint and dynamic focal length adjustments to
continuously center targets and maintain optimal scale, accompanied by a
corresponding algorithm that effectively enhances the success rates of various
operational tasks. Using the RoboTwin platform with a real-time image
processing plugin, AVR framework improves task success rates by 5%-16% on five
manipulation tasks. Physical deployment on a dual-arm system demonstrates in
collaborative tasks and 36% precision in screwdriver insertion, outperforming
baselines by over 25%. Experimental results confirm that AVR framework enhances
environmental perception, manipulation repeatability (40% $\le $1 cm error),
and robustness in complex scenarios, paving the way for future robotic
precision manipulation methods in the pursuit of human-level robot dexterity
and precision.
