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The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification

Judgment of errors for recovery is performed during execution of the system. Ideally, it is desirable for the judgment to be performed at several times. However, in that case, many sensors would be needed and it would lead to disturbing the workflow. Therefore, it is important to be able to judge an error efficiently in the most suitable timing and within a few attempts. This paper describes a method for efficient timing of visual sensing for error recovery.