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RAPID: Robotic Agent Disassembles EV Battery Packs
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Zachary Allen and other authors propose RAPID, a robotic agent disassembly platform, and test fastener removal on complete EV battery packs. The platform consists of a gantry-style industrial robotic arm, RGB-D perception, and an automatic nut-driving tool; open-vocabulary object detection reaches 0.9757 mAP50. In 204 one-time fastener removal trials, three strategies performed differently: taught poses achieved a 97% success rate with 24 minutes; one-shot visual execution achieved 57% with 29 minutes; visual servoing achieved 83% with 36 minutes. The authors also evaluated SmolAgents with GPT-4o-mini and Qwen 3.5 9B/4B on edge hardware: the tool-based interface achieved a 100% task completion rate, while automatic ROS service discovery had a 43.3% failure rate; based on this, the authors conclude that reliable LLM-driven robot control requires structured robot APIs.
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- RAPID: A Robotic Agent Platform for EV Battery Pack Disassembly
The authors propose RAPID, a robotic agent disassembly platform that integrates a gantry-mounted industrial robotic arm, RGB-D perception, and an automated nut-running tool to remove fasteners on a full-scale EV battery pack. Open-vocabulary object detection achieves 0.9757 mAP50; among three one-shot fastener removal strategies, taught-in poses achieved a 97% success rate in 24 minutes, one-shot vision execution achieved 57% in 29 minutes, and visual servoing achieved 83% in 36 minutes (n=204).
arXiv cs.RO ·