# Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge

arXiv: https://arxiv.org/abs/2103.15236 · HTML: https://mlsanity.com/paper/2103.15236/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Mar 2021.

## Built on by (most cited first, 1 of 1)

- [Optimal decision making in robotic assembly and other trial-and-error tasks](https://mlsanity.com/paper/2301.10846/) (2023)

## Abstract (arXiv)

The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine vision, robust planning and execution using behavior trees and a hierarchy of recovery strategies to ensure robust operation. Our system was selected for the WRS 2020 Assembly Challenge finals based on robust performance in the qualifying rounds. We present the systems approach adopted for the challenge.