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+ For the Gasket Assembly, task, we present a learned diffusion policy and three procedural algorithms.
+ The procedural algorithms consist of gasket/channel detection, template matching and then actuation. The Gasket/Channel Detection box shows
+ gasket segmentation (above) and channel segmentation (below). The Template Matching box shows the three templates for the curved, straight and trapezoid
+ channels. The Straight/Curved Actuation box shows selection and actuation strategies for the straight and curved channels: (a) is Unidirectional insertion,
+ (b) is Binary search insertion, and (c) is Hybrid insertion. The numbers of the points on the channels represent the order and location where robot attempts
+ to place and press the gasket into. The arrows indicate the direction(s) of the slide(s). The half-points and quartile-points in binary insertion are labeled as
+ (2,3) and (4,6,7,5) respectively. In Hybrid insertion they’re labeled (4,5) and (6,8,9,5) respectively. For the trapezoid channel, we treat each segment of the
+ trapezoid as an instance of the straight channel. In the unidirectional approach (d) we process each segment in a counterclockwise manner, starting at the
+ blue segment. For hybrid and binary (e), we evaluate the blue segment, then the cyan segments, and finally the red segment. The learned policy proceeds
+ directly from the initial state to actuation (f). The Final State box shows the final assembled gasket.
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