KnowinGLOW: Closed-Loop EEF Action Generation and Robot Execution
Task-parameter bubbles are anchored to the cup, robot end effector, and dispenser. They follow object motion and synchronize with EEF action stages as the arm picks up, transports, aligns, presses, and fills the cup.
CUP
xyz+rpy
MASS
FRICTION
STABLE
GRASP
GRASP-
READY
EEF
POSE
GRIPPER
FORCE
COLLISION-
FREE
Δx / Δy
ALIGN
NOZZLE
xyz
BUTTON
STATE
CONTACT
FORCE
PRESS
DEPTH
PRESS
SUCCESS
CUP
xyz+rpy
GRIPPER
FORCE
MASS
FRICTION
NOZZLE
xyz
Δx / Δy
ALIGN
CONTACT
FORCE
PRESS
DEPTH
EEF
POSE
COLLISION-
FREE
GRASP-
READY
STABLE
GRASP
UPRIGHT
UNDER
NOZZLE
PLACEMENT
TOLERANCE
BUTTON
xyz
PRESS
SUCCESS
EEF ACTION · TASK PROGRESS
A17
A42
A08
A31
A55
A12
A64
REACH CUP
GRASP & TRANSPORT
ALIGN & PLACE
PRESS