SPI-BoTER, a physics-informed Transformer with sparse attention masks and a distance-matrix loss, reports 0.2515 mm mean 3D positioning error for UR5 robot arm error compensation, a 35.16% reduction over a standard DNN.
Pose accuracy improvement in robotic machining by visually-guided method and experimental investigation
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SPI-BoTER: Error Compensation for Industrial Robots via Sparse Attention Masking and Hybrid Loss with Spatial-Physical Information
SPI-BoTER, a physics-informed Transformer with sparse attention masks and a distance-matrix loss, reports 0.2515 mm mean 3D positioning error for UR5 robot arm error compensation, a 35.16% reduction over a standard DNN.