LIBERO-Industry：産業プロセス制約下でのロボットマニピュレーションのベンチマーク
LIBERO-Industry: Benchmarking Robotic Manipulation under Industrial Process Constraints
柔軟な製造現場の制約（製品バリエーション、移動する材料流、限られた実行時間、厳しい幾何公差）を反映したロボット操作ベンチマークLIBERO-Industryを提案し、汎用ロボットポリシーの性能評価を行った。
著者: Ming Shin Cindy Sung, Duan Leijiahao, Haoxiang Wang, Boning Tan, Liangna Fu, Chao Tan, Yafu Li, Yulong Chen, Chaoqun Wan, Zhen Huang, Shuxian Liang, Xian-Sheng Hua
分類: cs.AI
原文アブストラクト
Industrial manipulation in flexible manufacturing, e.g., high-mix, low-volume (HMLV) electronics assembly, requires robot policies to adapt to changing products and production conditions. Such settings impose industrial process constraints, including product variants, moving material flows, finite execution windows, and tight geometric tolerances. However, existing evaluation frameworks do not systematically capture these constraints when assessing generalist robot policies. To address this gap, we introduce LIBERO-Industry, a novel benchmark built on the widely used robot learning benchmark LIBERO, that translates the aforementioned industrial constraints into controllable task conditions and measurable success criteria. Specifically, LIBERO-Industry comprises three classic task scenarios: Static-to-Dynamic (S2D) loading, Dynamic-to-Static (D2S) unloading, and Dynamic-to-Dynamic (D2D) transfer. The suites contain 216 tasks in total that systematically vary object geometry, conveyor speed, interaction-window duration, and geometric acceptance region size. Extensive experiments across five generalist robot policies (including vision-language-action models and world-action models) show that performance progressively degrades as industrial constraints are introduced and combined. Under a shared fine-tuning and evaluation protocol, the LIBERO-Industry co-training condition achieved higher observed target-transfer completion than the original-LIBERO condition.