An ensemble of imitation-learning policies plus an uncertainty-triggered switch to a backup controller improves task success in three simulated chemistry manipulation tasks and transfers to a real robot for pick-and-place.
Matterix: toward a digital twin for robotics-assisted chemistry laboratory automation,
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SAFE-CHEM: Uncertainty-Aware Policy Switching for Robust Robotic Chemistry
An ensemble of imitation-learning policies plus an uncertainty-triggered switch to a backup controller improves task success in three simulated chemistry manipulation tasks and transfers to a real robot for pick-and-place.