The spring semester focused on establishing the core pick-and-place pipeline. The targeted performance requirements were recognition and localization of lab equipment, collision-free path planning, grasping, and commanding lab machines. Specifically, the system targeted equipment detection at greater than 90% accuracy with a false-positive rate below 5%, localization within 3 cm of ground truth and orientation within 5, collision-free path generation 95% of the time, grasping with a secure grip in 75% of attempts, and correct command transmission to lab machines with 100% accuracy.<\/p>\n\n\n\n
The targets and achievements are shown below. We ran the system end-to-end across 2 iterations in the Spring Validation Demonstration (more detailed in the Videos page) and recorded the performance metrics according to our targets.<\/p>\n\n\n\n All spring targeted requirements were met or exceeded. Detection, localization, planning, grasping, and lab machine commanding all achieved 100% success rates in testing. The most notable improvement over target was in localization, where the system achieved sub-centimeter error against a 3 cm target. Grasping also significantly exceeded its target, achieving perfect success with retries against a 75% baseline.<\/p>\n","protected":false},"excerpt":{"rendered":" The spring semester focused on establishing the core pick-and-place pipeline. The targeted performance requirements were recognition and localization of lab equipment, collision-free path planning, grasping, and commanding lab machines. Specifically, the system targeted equipment detection at greater than 90% accuracy with a false-positive rate below 5%, localization within 3 cm of ground truth and orientation […]<\/p>\n","protected":false},"author":469,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-system-summary","meta":{"footnotes":""},"class_list":["post-333","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/pages\/333","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/users\/469"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/comments?post=333"}],"version-history":[{"count":2,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/pages\/333\/revisions"}],"predecessor-version":[{"id":346,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/pages\/333\/revisions\/346"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamh\/wp-json\/wp\/v2\/media?parent=333"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}Task<\/strong><\/td> Target<\/strong><\/td> Achieved<\/strong><\/td><\/tr> PR3a. Recognize Lab Equipment<\/td> 90%<\/td> (5\/5) 100%<\/td><\/tr> PR3b. Localize Lab Equipment<\/td> <=3cm error<\/td> <=1cm error<\/td><\/tr> PR4. Plan to Reach Lab Equipment<\/td> 95%<\/td> 16\/16 (100%)<\/td><\/tr> PR5. Grasp Lab Equipment 75% (6\/6) 100%<\/td> 75%<\/td> (6\/6) 100%<\/td><\/tr> PR7. Command Lab Machines<\/td> 100%<\/td> (2\/2) 100%<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n